brics_oodl::ScannerSickS300 Class Reference

#include <ScannerSickS300.hpp>

Classes
struct	ParamType
struct	ScanPolarType
Public Types
enum	{ SCANNER_S300_READ_BUF_SIZE = 10000, READ_BUF_SIZE = 10000, WRITE_BUF_SIZE = 10000 }
Public Member Functions
bool	getScan (std::vector< double > &vdDistanceM, std::vector< double > &vdAngleRAD, std::vector< double > &vdIntensityAU)
bool	open (const char *pcPort, int iBaudRate)
void	purgeScanBuf ()
void	resetStartup ()
	ScannerSickS300 ()
void	startScanner ()
void	stopScanner ()
	~ScannerSickS300 ()
Private Member Functions
void	convertScanToPolar (std::vector< int > viScanRaw, std::vector< ScanPolarType > &vecScanPolar)
unsigned int	createCRC (unsigned char *ptrData, int Size)
unsigned int	getUnsignedWord (unsigned char msb, unsigned char lsb)
Private Attributes
double	m_dBaudMult
int	m_iPosReadBuf2
ParamType	m_Param
unsigned char	m_ReadBuf [READ_BUF_SIZE+10]
unsigned char	m_ReadBuf2 [READ_BUF_SIZE+10]
SerialIO	m_SerialIO
unsigned int	m_uiSumReadBytes
std::vector< int >	m_viScanRaw
Static Private Attributes
static const double	c_dPi
static const unsigned char	c_StartBytes [10]
static const unsigned short	crc_LookUpTable [256]

Detailed Description

Driver class for the laser scanner SICK S300 Professional. This driver only supports use with 500KBaud in cont. mode

S300 header format in continuous mode:

| 00 00 00 00 | 4 byte reply header

Now starts the actual telegram

Readout of buffer starts with Reply-Header Reply-Header:byte 0 to 3 = 4 bytes Telegram (as it is stored in the Buffer): Position in the telegram Header: bytes 4 to 23 = 20 bytes bytes 0 to 19 Data: bytes 24 to 1105 = 1082 bytes bytes 20 to 1101 CRC: bytes 1106, 1107 = 2 bytes bytes 1102, 1103

for easier parsing Reply-Header and Telegram-Header are combined in the folllowing --> Headerlength = 24 bytes (iHeaderLength) --> Total length in buffer is 1108 bytes --> Telegram length (read from telegram) is 1104 bytes (iDataLength)

Definition at line 102 of file ScannerSickS300.hpp.

Member Enumeration Documentation

anonymous enum

Enumerator:

SCANNER_S300_READ_BUF_SIZE
READ_BUF_SIZE
WRITE_BUF_SIZE

Definition at line 88 of file ScannerSickS300.hpp.

Constructor & Destructor Documentation

brics_oodl::ScannerSickS300::ScannerSickS300 ( )

brics_oodl::ScannerSickS300::~ScannerSickS300 ( )

Member Function Documentation

void brics_oodl::ScannerSickS300::convertScanToPolar	(	std::vector< int >	viScanRaw,
		std::vector< ScanPolarType > &	vecScanPolar
	)			`[private]`

unsigned int brics_oodl::ScannerSickS300::createCRC	(	unsigned char *	ptrData,
		int	Size
	)			`[private]`

bool brics_oodl::ScannerSickS300::getScan	(	std::vector< double > &	vdDistanceM,
		std::vector< double > &	vdAngleRAD,
		std::vector< double > &	vdIntensityAU
	)