sick_scan_messages.h
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1 /*
2  * @brief Implementation of ROS messages for sick_scan
3  *
4  * Copyright (C) 2021, Ing.-Buero Dr. Michael Lehning, Hildesheim
5  * Copyright (C) 2021, SICK AG, Waldkirch
6  * All rights reserved.
7  *
8  * Redistribution and use in source and binary forms, with or without
9  * modification, are permitted provided that the following conditions are met:
10  *
11  * * Redistributions of source code must retain the above copyright
12  * notice, this list of conditions and the following disclaimer.
13  * * Redistributions in binary form must reproduce the above copyright
14  * notice, this list of conditions and the following disclaimer in the
15  * documentation and/or other materials provided with the distribution.
16  * * Neither the name of Osnabrück University nor the names of its
17  * contributors may be used to endorse or promote products derived from
18  * this software without specific prior written permission.
19  *
20  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
21  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
22  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
23  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
24  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
25  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
26  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
27  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
28  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
29  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
30  * POSSIBILITY OF SUCH DAMAGE.
31  *
32  * Created on: 12.01.2021
33  *
34  * Authors:
35  * Michael Lehning <michael.lehning@lehning.de>
36  *
37  * Based on the TiM communication example by SICK AG.
38  *
39  */
40 
41 #ifndef SICK_SCAN_MESSAGES_H_
42 #define SICK_SCAN_MESSAGES_H_
43 
46 #include "sick_scan/LFErecMsg.h"
47 #include "sick_scan/LIDoutputstateMsg.h"
48 
49 namespace sick_scan
50 {
51 
53  {
54  public:
55 
57 
58  virtual ~SickScanMessages();
59 
60  /*
61  * @brief parses and converts a lidar LIDoutputstate message to a ros LIDoutputstate message
62  *
63  * Example LIDoutputstate message from 20210111_sick_tim781s_mon_elephant.pcapng.json:
64  * "tcp.description": ".......4sSN LIDoutputstate .................................E",
65  * "tcp.payload": "02:02:02:02:00:00:00:34:73:53:4e:20:4c:49:44:6f:75:74:70:75:74:73:74:61:74:65:20:00:00:00:00:00:00:01:00:00:01:26:00:00:00:01:22:00:00:00:00:00:01:00:00:00:04:02:00:00:00:00:00:00:45"
66  * 33 byte LIDoutputstate payload after "sSN LIDoutputstate ": "00:00:00:00:00:00:01:00:00:01:26:00:00:00:01:22:00:00:00:00:00:01:00:00:00:04:02:00:00:00:00:00:00"
67  *
68  * @param[in] timeStamp timestamp on receiving the lidar message
69  * @param[in] receiveBuffer byte array of lidar message
70  * @param[in] receiveLength size of lidar message in byte
71  * @param[in] useBinaryProtocol binary lidar message (true, Cola-B) or ascii lidar message (false, Cola-A)
72  * @param[in] frame_id frame id of output message
73  * @param[out] output_msg converted output message
74  *
75  * @return true on success, false on error
76  */
77  static bool parseLIDoutputstateMsg(const ros::Time& timeStamp, uint8_t* receiveBuffer, int receiveLength, bool useBinaryProtocol, const std::string& frame_id, sick_scan::LIDoutputstateMsg& output_msg);
78 
79  /*
80  * @brief parses and converts a lidar LFErec message to a ros LFErec message
81  *
82  * Example LIDoutputstate message from 20210111_sick_tim781s_lferec_elephant.pcapng.json:
83  * "tcp.description": "........sSN LFErec ........................0..............3...........................0..............4....P......................0..............35.....",
84  * "tcp.payload": "02:02:02:02:00:00:00:8e:73:53:4e:20:4c:46:45:72:65:63:20:00:03:00:01:01:00:00:00:00:3f:80:00:00:00:00:00:00:00:00:0d:05:ff:f9:22:30:00:00:00:00:00:00:00:00:01:07:b2:01:01:08:33:2e:00:09:ac:90:00:01:02:00:00:00:00:3f:80:00:00:00:00:00:00:00:00:0d:05:ff:f9:22:30:01:00:00:00:00:00:00:00:01:07:b2:01:01:08:34:02:00:06:9f:50:00:01:03:00:00:00:00:3f:80:00:00:00:00:00:00:00:00:0d:05:ff:f9:22:30:01:00:00:00:00:00:00:00:01:07:b2:01:01:08:33:35:00:09:ac:90:ac"
85  * 131 byte LFErec payload after "sSN LFErec ": "00:03:00:01:01:00:00:00:00:3f:80:00:00:00:00:00:00:00:00:0d:05:ff:f9:22:30:00:00:00:00:00:00:00:00:01:07:b2:01:01:08:33:2e:00:09:ac:90:00:01:02:00:00:00:00:3f:80:00:00:00:00:00:00:00:00:0d:05:ff:f9:22:30:01:00:00:00:00:00:00:00:01:07:b2:01:01:08:34:02:00:06:9f:50:00:01:03:00:00:00:00:3f:80:00:00:00:00:00:00:00:00:0d:05:ff:f9:22:30:01:00:00:00:00:00:00:00:01:07:b2:01:01:08:33:35:00:09:ac:90"
86  * LFErec payload starts with 16 byte fields_number "00:03" -> 3 fields, each field has (131-2)/3 = 43 byte
87  * Each field contains a field_index (1,2,3) and field_result (0: invalid/incorrect, 1: free/clear, 2: infringed)
88  * Note: field indices are sorted in reverse order, i.e. with 2 fields configured, we have typically
89  * output_msg.fields[0].field_index = 1, output_msg.fields[0].field_result_mrs = 0 (invalid)
90  * output_msg.fields[1].field_index = 2, output_msg.fields[1].field_result_mrs = 1 or 2 (clear=1 or infringed=2)
91  * output_msg.fields[2].field_index = 3, output_msg.fields[2].field_result_mrs = 1 or 2 (clear=1 or infringed=2)
92  *
93  * @param[in] timeStamp timestamp on receiving the lidar message
94  * @param[in] receiveBuffer byte array of lidar message
95  * @param[in] receiveLength size of lidar message in byte
96  * @param[in] useBinaryProtocol binary lidar message (true, Cola-B) or ascii lidar message (false, Cola-A)
97  * @param[in] eval_field_logic USE_EVAL_FIELD_LMS5XX_LOGIC or USE_EVAL_FIELD_TIM7XX_LOGIC
98  * @param[in] frame_id frame id of output message
99  * @param[out] output_msg converted output message
100  *
101  * @return true on success, false on error
102  */
103  static bool parseLFErecMsg(const ros::Time& timeStamp, uint8_t* receiveBuffer, int receiveLength, bool useBinaryProtocol, EVAL_FIELD_SUPPORT eval_field_logic, const std::string& frame_id, sick_scan::LFErecMsg& output_msg);
104 
105  protected:
106 
107  /*
108  * Member data
109  */
110 
111  }; /* class SickScanMessages */
112 
113 } /* namespace sick_scan */
114 #endif /* SICK_SCAN_MESSAGES_H_ */
sick_scan::SickScanMessages::parseLIDoutputstateMsg
static bool parseLIDoutputstateMsg(const ros::Time &timeStamp, uint8_t *receiveBuffer, int receiveLength, bool useBinaryProtocol, const std::string &frame_id, sick_scan::LIDoutputstateMsg &output_msg)
Definition: sick_scan_messages.cpp:83
sick_scan::EVAL_FIELD_SUPPORT
EVAL_FIELD_SUPPORT
Definition: sick_generic_parser.h:61
sick_scan::SickScanMessages::SickScanMessages
SickScanMessages(ros::NodeHandle *nh=0)
Definition: sick_scan_messages.cpp:58
sick_scan_common.h
sick_scan::SickScanMessages
Definition: sick_scan_messages.h:52
sick_scan_common_tcp.h
sick_scan
Definition: abstract_parser.cpp:50
sick_scan::SickScanMessages::parseLFErecMsg
static bool parseLFErecMsg(const ros::Time &timeStamp, uint8_t *receiveBuffer, int receiveLength, bool useBinaryProtocol, EVAL_FIELD_SUPPORT eval_field_logic, const std::string &frame_id, sick_scan::LFErecMsg &output_msg)
Definition: sick_scan_messages.cpp:231
ros::Time
timeStamp
ros::Time const * timeStamp(const M &m)
sick_scan::SickScanMessages::~SickScanMessages
virtual ~SickScanMessages()
Definition: sick_scan_messages.cpp:62
ros::NodeHandle


sick_scan
Author(s): Michael Lehning , Jochen Sprickerhof , Martin Günther
autogenerated on Thu Sep 8 2022 02:30:19