sick_scan_common.cpp File Reference

Laser Scanner communication main routine. More...

#include <sick_scan/sick_scan_common_nw.h>
#include <sick_scan/sick_scan_common.h>
#include <sick_scan/sick_generic_radar.h>
#include <sick_scan/sick_generic_field_mon.h>
#include <sick_scan/helper/angle_compensator.h>
#include <sick_scan/sick_scan_config_internal.h>
#include "sick_scan/binScanf.hpp"
#include <sick_scan/RadarScan.h>
#include "sick_scan/Encoder.h"
#include <cstdio>
#include <cstring>
#include <math.h>
#include "sick_scan/tcp/colaa.hpp"
#include "sick_scan/tcp/colab.hpp"
#include <map>
#include <climits>
#include <sick_scan/sick_generic_imu.h>
#include <sick_scan/sick_scan_messages.h>

Include dependency graph for sick_scan_common.cpp:

Go to the source code of this file.

Namespaces
	sick_scan

Macros
#define	_USE_MATH_DEFINES
#define	deg2rad_const   (0.017453292519943295769236907684886f)
#define	rad2deg(x)   ((x) / M_PI * 180.0)

Functions
const std::string	binScanfGetStringFromVec (std::vector< unsigned char > *replyDummy, int off, long len)
	Convert part of unsigned char vector into a std::string. More...
static int	getDiagnosticErrorCode ()
	return diagnostic error code (small helper function) This small helper function was introduced to allow the compiling under Visual c++. More...
unsigned char	sick_scan::sick_crc8 (unsigned char *msgBlock, int len)
	calculate crc-code for last byte of binary message XOR-calucation is done ONLY over message content (i.e. skipping the first 8 Bytes holding 0x02020202 <Length Information as 4-byte long>) More...
std::vector< unsigned char >	stringToVector (std::string s)
	Universal swapping function. More...
std::string	sick_scan::stripControl (std::vector< unsigned char > s)
	Converts a SOPAS command to a human readable string. More...
void	swap_endian (unsigned char *ptr, int numBytes)
	Universal swapping function. More...

Detailed Description

Laser Scanner communication main routine.

Copyright (C) 2013, Osnabrück University Copyright (C) 2017-2019, Ing.-Buero Dr. Michael Lehning, Hildesheim Copyright (C) 2017-2019, SICK AG, Waldkirch

All rights reserved.

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

* Redistributions of source code must retain the above copyright
  notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
  notice, this list of conditions and the following disclaimer in the
  documentation and/or other materials provided with the distribution.
* Neither the name of Osnabrück University nor the names of its
  contributors may be used to endorse or promote products derived from
  this software without specific prior written permission.
* Neither the name of SICK AG nor the names of its
  contributors may be used to endorse or promote products derived from
  this software without specific prior written permission
* Neither the name of Ing.-Buero Dr. Michael Lehning nor the names of its
  contributors may be used to endorse or promote products derived from
  this software without specific prior written permission

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Last modified: 28th May 2018

Authors:
   Michael Lehning <michael.lehning@lehning.de>
   Jochen Sprickerhof <jochen@sprickerhof.de>
   Martin Günther <mguenthe@uos.de>

Based on the TiM communication example by SICK AG.

Definition in file sick_scan_common.cpp.

Macro Definition Documentation

_USE_MATH_DEFINES

#define _USE_MATH_DEFINES

Definition at line 79 of file sick_scan_common.cpp.

deg2rad_const

#define deg2rad_const   (0.017453292519943295769236907684886f)

Definition at line 87 of file sick_scan_common.cpp.

rad2deg

#define rad2deg

(

x

)

((x) / M_PI * 180.0)

Definition at line 84 of file sick_scan_common.cpp.

Function Documentation

binScanfGetStringFromVec()

const std::string binScanfGetStringFromVec	(	std::vector< unsigned char > *	replyDummy,
		int	off,
		long	len
	)

Convert part of unsigned char vector into a std::string.

Parameters

replyDummy	Pointer to byte block hold in vector
off	Starting Position for copy command
len	Number of bytes which should be copied

Returns

result of copy action as std::string

Definition at line 156 of file sick_scan_common.cpp.

getDiagnosticErrorCode()

static int getDiagnosticErrorCode ( )

static

return diagnostic error code (small helper function) This small helper function was introduced to allow the compiling under Visual c++.

Returns

Diagnostic error code (value 2)

Definition at line 139 of file sick_scan_common.cpp.

stringToVector()

std::vector<unsigned char> stringToVector

(

std::string

s

)

Universal swapping function.

<todo> doku.

Parameters

ptr	Pointer to datablock
numBytes	: size of variable in bytes

Definition at line 122 of file sick_scan_common.cpp.

swap_endian()

void swap_endian	(	unsigned char *	ptr,
		int	numBytes
	)

Universal swapping function.

Parameters

ptr	Pointer to datablock
numBytes	: size of variable in bytes

Definition at line 102 of file sick_scan_common.cpp.