#include <ScannerSickS300.h>

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, unsigned int &iTimestamp, unsigned int &iTimeNow, const bool debug)
bool	isInStandby ()
bool	open (const char *pcPort, int iBaudRate, int iScanId)
void	purgeScanBuf ()
void	resetStartup ()
	ScannerSickS300 ()
void	setRangeField (const int field, const ParamType &param)
void	startScanner ()
void	stopScanner ()
	~ScannerSickS300 ()
Private Types
typedef std::map< int, ParamType >	PARAM_MAP
Private Member Functions
void	convertScanToPolar (const PARAM_MAP::const_iterator param, std::vector< int > viScanRaw, std::vector< ScanPolarType > &vecScanPolar)
Private Attributes
int	m_actualBufferSize
bool	m_bInStandby
double	m_dBaudMult
int	m_iPosReadBuf2
PARAM_MAP	m_Params
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
TelegramParser	tp_
Static Private Attributes
static const double	c_dPi = 3.14159265358979323846
static unsigned char	m_iScanId = 7

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)

if the scanner is in standby, the measurements are 0x4004 according to the Sick Support

Definition at line 106 of file ScannerSickS300.h.

Member Typedef Documentation

typedef std::map<int, ParamType> ScannerSickS300::PARAM_MAP [private]

Definition at line 173 of file ScannerSickS300.h.

Member Enumeration Documentation

anonymous enum

Enumerator:

SCANNER_S300_READ_BUF_SIZE
READ_BUF_SIZE
WRITE_BUF_SIZE

Definition at line 127 of file ScannerSickS300.h.

Constructor & Destructor Documentation

ScannerSickS300::ScannerSickS300 ( )

Definition at line 116 of file ScannerSickS300.cpp.

ScannerSickS300::~ScannerSickS300 ( )

Definition at line 132 of file ScannerSickS300.cpp.

Member Function Documentation

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

Definition at line 255 of file ScannerSickS300.cpp.

bool ScannerSickS300::getScan	(	std::vector< double > &	vdDistanceM,
		std::vector< double > &	vdAngleRAD,
		std::vector< double > &	vdIntensityAU,
		unsigned int &	iTimestamp,
		unsigned int &	iTimeNow,
		const bool	debug
	)