SickToolbox::SickPLS Class Reference

A general class for interfacing w/ SickPLS laser range finders. More...

#include <SickPLS.hh>

Inheritance diagram for SickToolbox::SickPLS:

List of all members.

Classes
struct	sick_pls_baud_status_tag
	A structure for aggregating the data that collectively define the baud config. More...
struct	sick_pls_operating_status_tag
	A structure for aggregating the data that collectively defines the operating status of the device. More...
struct	sick_pls_scan_profile_b0_tag
	A structure for aggregating the data that define a scan profile obtained from reply B0 (See page 49 Telegram listing) More...
Public Types
typedef struct SickToolbox::SickPLS::sick_pls_baud_status_tag	sick_pls_baud_status_t
	Adopt c-style convention.
enum	sick_pls_baud_t {   SICK_BAUD_9600 = 0x42, SICK_BAUD_19200 = 0x41, SICK_BAUD_38400 = 0x40, SICK_BAUD_500K = 0x48,   SICK_BAUD_UNKNOWN = 0xFF }
	Defines available Sick PLS baud rates. More...
enum	sick_pls_measuring_units_t { SICK_MEASURING_UNITS_CM = 0x00, SICK_MEASURING_UNITS_UNKNOWN = 0xFF }
	Defines the available Sick PLS measured value units. More...
enum	sick_pls_operating_mode_t {   SICK_OP_MODE_INSTALLATION = 0x00, SICK_OP_MODE_DIAGNOSTIC = 0x10, SICK_OP_MODE_MONITOR_STREAM_MIN_VALUE_FOR_EACH_SEGMENT = 0x20, SICK_OP_MODE_MONITOR_TRIGGER_MIN_VALUE_ON_OBJECT = 0x21,   SICK_OP_MODE_MONITOR_STREAM_MIN_VERT_DIST_TO_OBJECT = 0x22, SICK_OP_MODE_MONITOR_TRIGGER_MIN_VERT_DIST_TO_OBJECT = 0x23, SICK_OP_MODE_MONITOR_STREAM_VALUES = 0x24, SICK_OP_MODE_MONITOR_REQUEST_VALUES = 0x25,   SICK_OP_MODE_MONITOR_STREAM_MEAN_VALUES = 0x26, SICK_OP_MODE_MONITOR_STREAM_VALUES_SUBRANGE = 0x27, SICK_OP_MODE_MONITOR_STREAM_MEAN_VALUES_SUBRANGE = 0x28, SICK_OP_MODE_MONITOR_STREAM_VALUES_WITH_FIELDS = 0x29,   SICK_OP_MODE_MONITOR_STREAM_VALUES_FROM_PARTIAL_SCAN = 0x2A, SICK_OP_MODE_MONITOR_STREAM_RANGE_AND_REFLECT_FROM_PARTIAL_SCAN = 0x2B, SICK_OP_MODE_MONITOR_STREAM_MIN_VALUES_FOR_EACH_SEGMENT_SUBRANGE = 0x2C, SICK_OP_MODE_MONITOR_NAVIGATION = 0x2E,   SICK_OP_MODE_MONITOR_STREAM_RANGE_AND_REFLECT = 0x50, SICK_OP_MODE_UNKNOWN = 0xFF }
	Defines the operating modes supported by Sick PLS. See page 41 of the PLS telegram manual for additional descriptions of these modes. More...
typedef struct SickToolbox::SickPLS::sick_pls_operating_status_tag	sick_pls_operating_status_t
	Adopt c-style convention.
enum	sick_pls_scan_angle_t { SICK_SCAN_ANGLE_180 = 180, SICK_SCAN_ANGLE_UNKNOWN = 0xFF }
	Defines the scan angle for the Sick PLS. More...
typedef struct SickToolbox::SickPLS::sick_pls_scan_profile_b0_tag	sick_pls_scan_profile_b0_t
	Adopt c-style convention.
enum	sick_pls_scan_resolution_t { SICK_SCAN_RESOLUTION_50 = 50, SICK_SCAN_RESOLUTION_UNKNOWN = 0xFF }
	Defines the available resolution settings for the Sick PLS. More...
enum	sick_pls_status_t { SICK_STATUS_OK = 0x00, SICK_STATUS_ERROR = 0x01, SICK_STATUS_UNKNOWN = 0xFF }
	Defines the status of the Sick PLS unit. More...
Public Member Functions
std::string	GetSickDevicePath () const
	Gets the Sick PLS device path.
SickPLS::sick_pls_measuring_units_t	GetSickMeasuringUnits () const throw ( SickConfigException )
	Gets the current Sick PLS measuring units.
sick_pls_operating_mode_t	GetSickOperatingMode () const throw ( SickConfigException )
	Gets the current Sick PLS operating mode.
void	GetSickScan (unsigned int *const measurement_values, unsigned int &num_measurement_values) throw ( SickConfigException, SickTimeoutException, SickIOException, SickThreadException)
	Returns the most recent measured values obtained by the Sick PLS.
double	GetSickScanAngle () const throw ( SickConfigException )
	Gets the current scan angle of the device.
double	GetSickScanResolution () const throw ( SickConfigException )
	Gets the current angular resolution.
sick_pls_status_t	GetSickStatus () throw ( SickConfigException, SickTimeoutException, SickIOException, SickThreadException )
std::string	GetSickStatusAsString () const
	Acquire the Sick PLS's status as a printable string.
bool	Initialize (const sick_pls_baud_t desired_baud_rate) throw ( SickConfigException, SickTimeoutException, SickIOException, SickThreadException)
	Attempts to initialize the Sick PLS and then sets communication at at the given baud rate.
void	ResetSick () throw ( SickConfigException, SickTimeoutException, SickIOException, SickThreadException )
	Reset the Sick PLS active field values NOTE: Considered successful if the PLS ready message is received.
	SickPLS (const std::string sick_device_path)
	Primary constructor.
void	Uninitialize () throw ( SickConfigException, SickTimeoutException, SickIOException, SickThreadException )
	Uninitializes the PLS by putting it in a mode where it stops streaming data, and returns it to the default baud rate (specified in the header).
	~SickPLS ()
	Destructor.
Static Public Member Functions
static sick_pls_scan_resolution_t	DoubleToSickScanResolution (const double scan_resolution_double)
	Converts double to corresponding Sick PLS scan resolution.
static sick_pls_baud_t	IntToSickBaud (const int baud_int)
	Converts integer to corresponding Sick PLS baud.
static sick_pls_scan_angle_t	IntToSickScanAngle (const int scan_angle_int)
	Converts integer to corresponding Sick PLS scan angle.
static sick_pls_scan_resolution_t	IntToSickScanResolution (const int scan_resolution_int)
	Converts integer to corresponding Sick PLS scan resolution.
static std::string	SickBaudToString (const sick_pls_baud_t baud_rate)
	Converts Sick PLS baud to a corresponding string.
static std::string	SickMeasuringUnitsToString (const sick_pls_measuring_units_t sick_units)
	Converts the Sick PLS measurement units to a corresponding string.
static std::string	SickOperatingModeToString (const sick_pls_operating_mode_t sick_operating_mode)
	Converts the Sick operating mode to a corresponding string.
static std::string	SickStatusToString (const sick_pls_status_t sick_status)
	Converts the Sick PLS status code to a string.
static sick_pls_baud_t	StringToSickBaud (const std::string baud_str)
	Converts string to corresponding Sick PLS baud.
Static Public Attributes
static const uint16_t	SICK_MAX_NUM_MEASUREMENTS = 721
	Maximum number of measurements returned by the Sick PLS.
Protected Member Functions
sick_pls_baud_t	_baudToSickBaud (const int baud_rate) const
	Converts a termios baud to an equivalent Sick baud.
void	_extractSickMeasurementValues (const uint8_t *const byte_sequence, const uint16_t num_measurements, uint16_t *const measured_values) const
	Extracts the measured values (w/ flags) that were returned by the device.
void	_flushTerminalBuffer () throw ( SickThreadException )
	Flushes terminal I/O buffers.
void	_getSickErrors (unsigned int *const num_sick_errors=NULL, uint8_t *const error_type_buffer=NULL, uint8_t *const error_num_buffer=NULL) throw ( SickTimeoutException, SickIOException, SickThreadException )
	Obtains any error codes from the Sick PLS.
void	_parseSickScanProfileB0 (const uint8_t *const src_buffer, sick_pls_scan_profile_b0_t &sick_scan_profile) const
	Parses a byte sequence into a scan profile corresponding to message B0.
void	_sendMessageAndGetReply (const SickPLSMessage &sick_send_message, SickPLSMessage &sick_recv_message, const unsigned int timeout_value, const unsigned int num_tries) throw ( SickIOException, SickThreadException, SickTimeoutException )
	Sends a message and searches for the corresponding reply.
void	_sendMessageAndGetReply (const SickPLSMessage &sick_send_message, SickPLSMessage &sick_recv_message, const uint8_t reply_code, const unsigned int timeout_value, const unsigned int num_tries) throw ( SickIOException, SickThreadException, SickTimeoutException )
	Sends a message and searches for the reply with given reply code.
void	_setSessionBaud (const sick_pls_baud_t baud_rate) throw ( SickIOException, SickThreadException, SickTimeoutException )
	Sets the baud rate for the current communication session.
void	_setSickOpModeDiagnostic () throw ( SickConfigException, SickTimeoutException, SickIOException, SickThreadException)
	Sets the device to diagnostic mode.
void	_setSickOpModeInstallation () throw ( SickConfigException, SickTimeoutException, SickIOException, SickThreadException)
	Sets the device to installation mode.
void	_setSickOpModeMonitorRequestValues () throw ( SickConfigException, SickTimeoutException, SickIOException, SickThreadException)
	Sets the device to monitor mode and tells it to send values only upon request.
void	_setSickOpModeMonitorStreamValues () throw ( SickConfigException, SickTimeoutException, SickIOException, SickThreadException)
	Sets the device to monitor mode and tells it to stream measured values.
void	_setTerminalBaud (const sick_pls_baud_t sick_baud) throw ( SickIOException, SickThreadException )
	Sets the local terminal baud rate.
void	_setupConnection () throw ( SickIOException, SickThreadException )
	Attempts to open a I/O stream using the device path given at object instantiation.
void	_switchSickOperatingMode (const uint8_t sick_mode, const uint8_t *const mode_params=NULL) throw ( SickConfigException, SickTimeoutException, SickIOException, SickThreadException)
	Attempts to switch the operating mode of the Sick PLS.
void	_teardownConnection () throw ( SickIOException )
	Closes the data connection associated with the device.
bool	_testSickBaud (const sick_pls_baud_t baud_rate) throw ( SickIOException, SickThreadException )
	Attempts to detect whether the PLS is operating at the given baud rate.
bool	_validSickScanAngle (const sick_pls_scan_angle_t sick_scan_angle) const
	Indicates whether the given scan angle is defined.
bool	_validSickScanResolution (const sick_pls_scan_resolution_t sick_scan_resolution) const
	Indicates whether the given scan resolution is defined.
Protected Attributes
sick_pls_baud_t	_curr_session_baud
sick_pls_baud_t	_desired_session_baud
struct termios	_old_term
sick_pls_baud_status_t	_sick_baud_status
std::string	_sick_device_path
sick_pls_operating_status_t	_sick_operating_status

---

Detailed Description

A general class for interfacing w/ SickPLS laser range finders.

This class implements the basic telegram protocol for SickPLS range finders. It allows the setting of such parameters as angular resolution, fov, etc...

Definition at line 50 of file SickPLS.hh.

---

Member Typedef Documentation

SickToolbox::SickPLS::sick_pls_baud_status_t

Adopt c-style convention.

SickToolbox::SickPLS::sick_pls_operating_status_t

Adopt c-style convention.

SickToolbox::SickPLS::sick_pls_scan_profile_b0_t

Adopt c-style convention.

---

Member Enumeration Documentation

enum SickToolbox::SickPLS::sick_pls_baud_t

Defines available Sick PLS baud rates.

Enumerator:

SICK_BAUD_9600	9600 baud
SICK_BAUD_19200	19200 baud
SICK_BAUD_38400	38400 baud
SICK_BAUD_500K	500000 baud
SICK_BAUD_UNKNOWN	Unknown baud rate.

Definition at line 134 of file SickPLS.hh.

enum SickToolbox::SickPLS::sick_pls_measuring_units_t

Defines the available Sick PLS measured value units.

Enumerator:

SICK_MEASURING_UNITS_CM	Measured values are in centimeters.
SICK_MEASURING_UNITS_UNKNOWN	Unknown units.

Definition at line 84 of file SickPLS.hh.

enum SickToolbox::SickPLS::sick_pls_operating_mode_t

Defines the operating modes supported by Sick PLS. See page 41 of the PLS telegram manual for additional descriptions of these modes.

Enumerator:

SICK_OP_MODE_INSTALLATION	Installation mode for writing EEPROM. TODO: Check what options PLS has
SICK_OP_MODE_DIAGNOSTIC	Diagnostic mode for testing purposes.
SICK_OP_MODE_MONITOR_STREAM_MIN_VALUE_FOR_EACH_SEGMENT	Streams minimum measured values for each segement.
SICK_OP_MODE_MONITOR_TRIGGER_MIN_VALUE_ON_OBJECT	Sends the min measured values when object is detected.
SICK_OP_MODE_MONITOR_STREAM_MIN_VERT_DIST_TO_OBJECT	Streams min "vertical distance" to objects.
SICK_OP_MODE_MONITOR_TRIGGER_MIN_VERT_DIST_TO_OBJECT	Sends min vertical distance to object when detected.
SICK_OP_MODE_MONITOR_STREAM_VALUES	Streams all measured values in a scan.
SICK_OP_MODE_MONITOR_REQUEST_VALUES	Sends measured range values on request (i.e. when polled)
SICK_OP_MODE_MONITOR_STREAM_MEAN_VALUES	Streams mean values from a sample size of n consecutive scans.
SICK_OP_MODE_MONITOR_STREAM_VALUES_SUBRANGE	Streams data from given subrange.
SICK_OP_MODE_MONITOR_STREAM_MEAN_VALUES_SUBRANGE	Streams mean values over requested subrange.
SICK_OP_MODE_MONITOR_STREAM_VALUES_WITH_FIELDS	Streams measured values with associated flags.
SICK_OP_MODE_MONITOR_STREAM_VALUES_FROM_PARTIAL_SCAN	Streams measured values of partial scan directly after measurement.
SICK_OP_MODE_MONITOR_STREAM_RANGE_AND_REFLECT_FROM_PARTIAL_SCAN	Streams range and intensity from n partial scans.
SICK_OP_MODE_MONITOR_STREAM_MIN_VALUES_FOR_EACH_SEGMENT_SUBRANGE	Streams minimum measured values for each segment in a sub-range.
SICK_OP_MODE_MONITOR_NAVIGATION	Sick outputs navigation data records.
SICK_OP_MODE_MONITOR_STREAM_RANGE_AND_REFLECT	Streams measured range from a scan and sub-range of reflectivity values.
SICK_OP_MODE_UNKNOWN	Unknown operating mode.

Definition at line 106 of file SickPLS.hh.

enum SickToolbox::SickPLS::sick_pls_scan_angle_t

Defines the scan angle for the Sick PLS.

Enumerator:

SICK_SCAN_ANGLE_180	Scanning angle of 180 degrees. PLS only does 180
SICK_SCAN_ANGLE_UNKNOWN	Unknown scanning angle.

Definition at line 64 of file SickPLS.hh.

enum SickToolbox::SickPLS::sick_pls_scan_resolution_t

Defines the available resolution settings for the Sick PLS.

Enumerator:

SICK_SCAN_RESOLUTION_50	0.50 degree angular resolution PLS only does 0.5 deg angular resolution
SICK_SCAN_RESOLUTION_UNKNOWN	Unknown angular resolution.

Definition at line 74 of file SickPLS.hh.

enum SickToolbox::SickPLS::sick_pls_status_t

Defines the status of the Sick PLS unit.

Enumerator:

SICK_STATUS_OK	PLS is OK.
SICK_STATUS_ERROR	PLS has encountered an error.
SICK_STATUS_UNKNOWN	Unknown PLS status.

Definition at line 95 of file SickPLS.hh.

---

Constructor & Destructor Documentation

SickToolbox::SickPLS::SickPLS

(

const std::string

sick_device_path

)

Primary constructor.

Constructor

Parameters:

sick_device_path

The path of the device

Definition at line 46 of file SickPLS.cc.

SickToolbox::SickPLS::~SickPLS

(

)

Destructor.

Destructor

Definition at line 69 of file SickPLS.cc.

---

Member Function Documentation

sick_pls_baud_t SickToolbox::SickPLS::_baudToSickBaud

(

const int

baud_rate

)

const [protected]

Converts a termios baud to an equivalent Sick baud.

Given a baud rate as an integer, gets a PLS baud rate command.

Parameters:

baud_rate

The baud rate to be converted to a Sick PLS baud

Returns:

The Sick PLS equivalent of the given baud rate

Definition at line 2000 of file SickPLS.cc.

void SickToolbox::SickPLS::_extractSickMeasurementValues	(	const uint8_t *const	byte_sequence,
		const uint16_t	num_measurements,
		uint16_t *const	measured_values
	)		const [protected]

Extracts the measured values (w/ flags) that were returned by the device.

Acquires the bit mask to extract the field bit values returned with each range measurement

Parameters:

*byte_sequence	The byte sequence holding the current measured values
num_measurements	The number of measurements given in the byte sequence
*measured_values	A buffer to hold the extracted measured values
*field_a_values	Stores the Field A values associated with the given measurements (Default: NULL => Not wanted)
*field_b_values	Stores the Field B values associated with the given measurements (Default: NULL => Not wanted)
*field_c_values	Stores the Field C values associated with the given measurements (Default: NULL => Not wanted)

Definition at line 1946 of file SickPLS.cc.

void SickToolbox::SickPLS::_flushTerminalBuffer

(

)

throw ( SickThreadException ) [protected]

Flushes terminal I/O buffers.

Flushes the terminal I/O buffers

Definition at line 916 of file SickPLS.cc.

void SickToolbox::SickPLS::_getSickErrors	(	unsigned int *const	num_sick_errors = NULL,
		uint8_t *const	error_type_buffer = NULL,
		uint8_t *const	error_num_buffer = NULL
	)		throw ( SickTimeoutException, SickIOException, SickThreadException ) [protected]

Obtains any error codes from the Sick PLS.

Gets the error status of the Sick PLS

Definition at line 1339 of file SickPLS.cc.

void SickToolbox::SickPLS::_parseSickScanProfileB0	(	const uint8_t *const	src_buffer,
		sick_pls_scan_profile_b0_t &	sick_scan_profile
	)		const [protected]

Parses a byte sequence into a scan profile corresponding to message B0.

Parses the scan profile returned w/ message B0

Parameters:

*src_buffer	The byte sequence to be parsed
&sick_scan_profile	The returned scan profile for the current round of measurements

Definition at line 1914 of file SickPLS.cc.

void SickToolbox::SickPLS::_sendMessageAndGetReply	(	const SickPLSMessage &	send_message,
		SickPLSMessage &	recv_message,
		const unsigned int	timeout_value,
		const unsigned int	num_tries
	)		throw ( SickIOException, SickThreadException, SickTimeoutException ) [protected]

Sends a message and searches for the corresponding reply.

Sends a message to the PLS and get the expected reply using th 0x80 rule.

Todo:

Check difference in comments?

Parameters:

&send_message	The message to be sent to the Sick PLS unit
&recv_message	The expected message reply from the Sick PLS
timeout_value	The epoch to wait before considering a sent frame lost (in usecs)
num_tries	The number of times to try and transmit the message before quitting

NOTE: Uses the 0x80 response code rule for looking for the response message

Definition at line 962 of file SickPLS.cc.

void SickToolbox::SickPLS::_sendMessageAndGetReply	(	const SickPLSMessage &	send_message,
		SickPLSMessage &	recv_message,
		const uint8_t	reply_code,
		const unsigned int	timeout_value,
		const unsigned int	num_tries
	)		throw ( SickIOException, SickThreadException, SickTimeoutException ) [protected]

Sends a message and searches for the reply with given reply code.

Sends a message to the PLS and get the expected reply using th 0x80 rule.

Todo:

Check difference in comments?

Parameters:

&send_message	The message to be sent to the Sick PLS unit
&recv_message	The expected message reply from the Sick PLS
reply_code	The reply code associated with the expected messgage
timeout_value	The epoch to wait before considering a sent frame lost (in usecs)
num_tries	The number of times to send the message in the event the PLS fails to reply

Definition at line 1021 of file SickPLS.cc.

void SickToolbox::SickPLS::_setSessionBaud

(

const sick_pls_baud_t

baud_rate

)

throw ( SickIOException, SickThreadException, SickTimeoutException ) [protected]

Sets the baud rate for the current communication session.

Sets the baud rate for communication with the PLS.

Parameters:

baud_rate

The desired baud rate

Definition at line 1076 of file SickPLS.cc.

void SickToolbox::SickPLS::_setSickOpModeDiagnostic

(

)

throw ( SickConfigException, SickTimeoutException, SickIOException, SickThreadException) [protected]

Sets the device to diagnostic mode.

Switch Sick PLS to diagnostic mode

Definition at line 1492 of file SickPLS.cc.

void SickToolbox::SickPLS::_setSickOpModeInstallation

(

)

throw ( SickConfigException, SickTimeoutException, SickIOException, SickThreadException) [protected]

Sets the device to installation mode.

Switch Sick PLS to installation mode

Definition at line 1429 of file SickPLS.cc.

void SickToolbox::SickPLS::_setSickOpModeMonitorRequestValues

(

)

throw ( SickConfigException, SickTimeoutException, SickIOException, SickThreadException) [protected]

Sets the device to monitor mode and tells it to send values only upon request.

Switch Sick PLS to monitor mode (request range data)

Definition at line 1557 of file SickPLS.cc.

void SickToolbox::SickPLS::_setSickOpModeMonitorStreamValues

(

)

throw ( SickConfigException, SickTimeoutException, SickIOException, SickThreadException) [protected]

Sets the device to monitor mode and tells it to stream measured values.

Switch Sick PLS to monitor mode (stream range)

Definition at line 1618 of file SickPLS.cc.

void SickToolbox::SickPLS::_setTerminalBaud

(

const sick_pls_baud_t

baud_rate

)

throw ( SickIOException, SickThreadException ) [protected]

Sets the local terminal baud rate.

Changes the terminal's baud rate.

Parameters:

baud_rate

The desired terminal baud rate

Definition at line 1225 of file SickPLS.cc.

void SickToolbox::SickPLS::_setupConnection

(

)

throw ( SickIOException, SickThreadException ) [protected, virtual]

Attempts to open a I/O stream using the device path given at object instantiation.

Opens the terminal for serial communication.

Implements SickToolbox::SickLIDAR< SickPLSBufferMonitor, SickPLSMessage >.

Definition at line 841 of file SickPLS.cc.

void SickToolbox::SickPLS::_switchSickOperatingMode	(	const uint8_t	sick_mode,
		const uint8_t *const	mode_params = NULL
	)		throw ( SickConfigException, SickTimeoutException, SickIOException, SickThreadException) [protected]

Attempts to switch the operating mode of the Sick PLS.

Switches the operating mode of the PLS.

Parameters:

sick_mode	The desired operating mode
mode_params	Additional parameters required to set the new operating mode

Definition at line 1686 of file SickPLS.cc.

void SickToolbox::SickPLS::_teardownConnection

(

)

throw ( SickIOException ) [protected, virtual]

Closes the data connection associated with the device.

Closes the serial communication terminal.

Implements SickToolbox::SickLIDAR< SickPLSBufferMonitor, SickPLSMessage >.

Definition at line 890 of file SickPLS.cc.

bool SickToolbox::SickPLS::_testSickBaud

(

const sick_pls_baud_t

baud_rate

)

throw ( SickIOException, SickThreadException ) [protected]

Attempts to detect whether the PLS is operating at the given baud rate.

Tests communication wit the PLS at a particular baud rate.

Parameters:

baud_rate

The baud rate to use when "pinging" the Sick PLS

Definition at line 1153 of file SickPLS.cc.

bool SickToolbox::SickPLS::_validSickScanAngle

(

const sick_pls_scan_angle_t

sick_scan_angle

)

const [protected]

Indicates whether the given scan angle is defined.

Indicates whether the given scan angle is defined

Parameters:

sick_scan_angle

The scan angle in question

Definition at line 1961 of file SickPLS.cc.

bool SickToolbox::SickPLS::_validSickScanResolution

(

const sick_pls_scan_resolution_t

sick_scan_resolution

)

const [protected]

Indicates whether the given scan resolution is defined.

Indicates whether the given scan resolution is defined

Parameters:

sick_scan_resolution

The scan resolution in question

Definition at line 1979 of file SickPLS.cc.

sick_pls_scan_resolution_t SickToolbox::SickPLS::DoubleToSickScanResolution

(

const double

scan_resolution_double

)

[static]

Converts double to corresponding Sick PLS scan resolution.

A utility function for converting doubles to pls_sick_scan_resolution_t

Parameters:

scan_resolution_double

Scan resolution as a double (e.g. 0.25,0.5,1.0)

Definition at line 682 of file SickPLS.cc.

std::string SickToolbox::SickPLS::GetSickDevicePath

(

)

const

Gets the Sick PLS device path.

Gets the Sick PLS device path

Returns:

The device path as a std::string

Definition at line 328 of file SickPLS.cc.

sick_pls_measuring_units_t SickToolbox::SickPLS::GetSickMeasuringUnits

(

)

const throw ( SickConfigException )

Gets the current Sick PLS measuring units.

Get the current measurement units of the device

Returns:

Measuring units (sick_pls_measuring_units_t)

Definition at line 376 of file SickPLS.cc.

sick_pls_operating_mode_t SickToolbox::SickPLS::GetSickOperatingMode

(

)

const throw ( SickConfigException )

Gets the current Sick PLS operating mode.

Get the current Sick PLS operating mode

Returns:

Operating mode (sick_pls_operating_mode_t)

Definition at line 392 of file SickPLS.cc.

void SickToolbox::SickPLS::GetSickScan	(	unsigned int *const	measurement_values,
		unsigned int &	num_measurement_values
	)		throw ( SickConfigException, SickTimeoutException, SickIOException, SickThreadException)

Returns the most recent measured values obtained by the Sick PLS.

Gets measurement data from the Sick. NOTE: Data can be either range or reflectivity given the Sick mode.

Parameters:

*measurement_values	Destination buffer for holding the current round of measured values
&num_measurement_values	Number of values stored in measurement_values
*sick_field_a_values	Stores the Field A values associated with the given scan (Default: NULL => Not wanted)
*sick_field_b_values	Stores the Field B values associated with the given scan (Default: NULL => Not wanted)
*sick_field_c_values	Stores the Field C values associated with the given scan (Default: NULL => Not wanted)
*sick_telegram_index	The telegram index assigned to the message (modulo: 256) (Default: NULL => Not wanted)
*sick_real_time_scan_index	The real time scan index for the latest message (module 256) (Default: NULL => Not wanted)

NOTE: Calling this function will return either range or reflectivity measurements depending upon the current measuring mode of the device.

NOTE: Real-time scan indices must be enabled by setting the corresponding availability of the Sick PLS for this value to be populated.

Definition at line 424 of file SickPLS.cc.

double SickToolbox::SickPLS::GetSickScanAngle

(

)

const throw ( SickConfigException )

Gets the current scan angle of the device.

Gets the scan angle currently being used by the device

Returns:

Scan angle of the device (sick_pls_scan_angle_t)

Definition at line 338 of file SickPLS.cc.

double SickToolbox::SickPLS::GetSickScanResolution

(

)

const throw ( SickConfigException )

Gets the current angular resolution.

Gets the scan resolution currently being used by the device

Returns:

Angular resolution of the Sick PLS (sick_pls_scan_resolution_t)

Definition at line 356 of file SickPLS.cc.

sick_pls_status_t SickToolbox::SickPLS::GetSickStatus

(

)

throw ( SickConfigException, SickTimeoutException, SickIOException, SickThreadException )

Acquire the Sick PLS status

std::string SickToolbox::SickPLS::GetSickStatusAsString

(

)

const

Acquire the Sick PLS's status as a printable string.

Get Sick status as a string

Returns:

The Sick PLS status as a well-formatted string

Definition at line 611 of file SickPLS.cc.

bool SickToolbox::SickPLS::Initialize

(

const sick_pls_baud_t

desired_baud_rate

)

throw ( SickConfigException, SickTimeoutException, SickIOException, SickThreadException)

Attempts to initialize the Sick PLS and then sets communication at at the given baud rate.

Initializes the Sick

Parameters:

desired_baud_rate

Desired session baud rate

Definition at line 99 of file SickPLS.cc.

sick_pls_baud_t SickToolbox::SickPLS::IntToSickBaud

(

const int

baud_int

)

[static]

Converts integer to corresponding Sick PLS baud.

A utility function for converting integers to pls_baud_t

Parameters:

baud_str

Baud rate as integer (e.g. 9600,19200,38400,500000)

Definition at line 715 of file SickPLS.cc.

sick_pls_scan_angle_t SickToolbox::SickPLS::IntToSickScanAngle

(

const int

scan_angle_int

)

[static]

Converts integer to corresponding Sick PLS scan angle.

A utility function for converting integers to pls_sick_scan_angle_t

Parameters:

scan_angle_int

Scan angle (FOV) as an integer (e.g. 90,100,180)

Definition at line 648 of file SickPLS.cc.

sick_pls_scan_resolution_t SickToolbox::SickPLS::IntToSickScanResolution

(

const int

scan_resolution_int

)

[static]

Converts integer to corresponding Sick PLS scan resolution.

A utility function for converting ints to pls_sick_scan_resolution_t

Parameters:

scan_resolution_int

Scan resolution as an integer (e.g. 25,50,100)

Definition at line 665 of file SickPLS.cc.

void SickToolbox::SickPLS::ResetSick

(

)

throw ( SickConfigException, SickTimeoutException, SickIOException, SickThreadException )

Reset the Sick PLS active field values NOTE: Considered successful if the PLS ready message is received.

Resets Sick PLS field values

Definition at line 525 of file SickPLS.cc.

std::string SickToolbox::SickPLS::SickBaudToString

(

const sick_pls_baud_t

baud_rate

)

[static]

Converts Sick PLS baud to a corresponding string.

Converts the given bad, returns a string representing that baud rate.

Parameters:

baud_rate

The baud rate to be represented as a string

Returns:

The string representation of the baud rate

Definition at line 692 of file SickPLS.cc.

std::string SickToolbox::SickPLS::SickMeasuringUnitsToString

(

const sick_pls_measuring_units_t

sick_units

)

[static]

Converts the Sick PLS measurement units to a corresponding string.

Converts the PLS's measuring units to a corresponding string

Parameters:

sick_units

The measuring units

Returns:

The corresponding string

Definition at line 824 of file SickPLS.cc.

std::string SickToolbox::SickPLS::SickOperatingModeToString

(

const sick_pls_operating_mode_t

sick_operating_mode

)

[static]

Converts the Sick operating mode to a corresponding string.

Converts the PLS's measuring mode to a corresponding string

Parameters:

sick_operating_mode

The Sick operating mode

Returns:

The corresponding string

Definition at line 772 of file SickPLS.cc.

std::string SickToolbox::SickPLS::SickStatusToString

(

const sick_pls_status_t

sick_status

)

[static]

Converts the Sick PLS status code to a string.

Converts the PLS's status to a corresponding string

Parameters:

sick_status

The device status

Returns:

A string corresponding to the given status code

Definition at line 754 of file SickPLS.cc.

sick_pls_baud_t SickToolbox::SickPLS::StringToSickBaud

(

const std::string

baud_str

)

[static]

Converts string to corresponding Sick PLS baud.

A utility function for converting baud strings to pls_baud_t

Parameters:

baud_str

Baud rate as string (e.g. "9600","19200","38400","500000")

Definition at line 738 of file SickPLS.cc.

void SickToolbox::SickPLS::Uninitialize

(

)

throw ( SickConfigException, SickTimeoutException, SickIOException, SickThreadException )

Uninitializes the PLS by putting it in a mode where it stops streaming data, and returns it to the default baud rate (specified in the header).

Uninitializes the Sick

Definition at line 253 of file SickPLS.cc.

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Member Data Documentation

sick_pls_baud_t SickToolbox::SickPLS::_curr_session_baud [protected]

The baud rate at which to communicate with the Sick

Definition at line 282 of file SickPLS.hh.

sick_pls_baud_t SickToolbox::SickPLS::_desired_session_baud [protected]

The desired baud rate for communicating w/ the Sick

Definition at line 285 of file SickPLS.hh.

struct termios SickToolbox::SickPLS::_old_term [protected]

Stores information about the original terminal settings

Definition at line 297 of file SickPLS.hh.

sick_pls_baud_status_t SickToolbox::SickPLS::_sick_baud_status [protected]

The baud configuration of the device

Definition at line 293 of file SickPLS.hh.

std::string SickToolbox::SickPLS::_sick_device_path [protected]

A path to the device at which the sick can be accessed.

Definition at line 279 of file SickPLS.hh.

sick_pls_operating_status_t SickToolbox::SickPLS::_sick_operating_status [protected]

The operating parameters of the device

Definition at line 289 of file SickPLS.hh.

const uint16_t SickToolbox::SickPLS::SICK_MAX_NUM_MEASUREMENTS = 721 [static]

Maximum number of measurements returned by the Sick PLS.

Define the maximum number of measurements

Definition at line 57 of file SickPLS.hh.

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The documentation for this class was generated from the following files:

• SickPLS.hh
• SickPLS.cc