sick_tim_common.h
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00001 /*
00002  * Copyright (C) 2013, Osnabrück University
00003  * All rights reserved.
00004  * 
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  * 
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of Osnabrück University nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  * 
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  *
00029  *  Created on: 24.05.2012
00030  *
00031  *      Authors:
00032  *         Jochen Sprickerhof <jochen@sprickerhof.de>
00033  *         Martin Günther <mguenthe@uos.de>
00034  *
00035  * Based on the TiM communication example by SICK AG.
00036  *
00037  */
00038 
00039 #ifndef SICK_TIM3XX_COMMON_H_
00040 #define SICK_TIM3XX_COMMON_H_
00041 
00042 #include <stdio.h>
00043 #include <stdlib.h>
00044 #include <string>
00045 #include <string.h>
00046 #include <vector>
00047 
00048 #include <ros/ros.h>
00049 #include <sensor_msgs/LaserScan.h>
00050 #include <std_msgs/String.h>
00051 
00052 #include <diagnostic_updater/diagnostic_updater.h>
00053 #include <diagnostic_updater/publisher.h>
00054 
00055 #include <dynamic_reconfigure/server.h>
00056 #include <sick_tim/SickTimConfig.h>
00057 
00058 #include "abstract_parser.h"
00059 
00060 namespace sick_tim
00061 {
00062 
00063 class SickTimCommon
00064 {
00065 public:
00066   SickTimCommon(AbstractParser* parser);
00067   virtual ~SickTimCommon();
00068   virtual int init();
00069   virtual int loopOnce();
00070   void check_angle_range(SickTimConfig &conf);
00071   void update_config(sick_tim::SickTimConfig &new_config, uint32_t level = 0);
00072 
00073   double get_expected_frequency() const { return expectedFrequency_; }
00074 
00076 
00079   virtual bool rebootScanner();
00080 
00081 protected:
00082   virtual int init_device() = 0;
00083   virtual int init_scanner();
00084   virtual int stop_scanner();
00085   virtual int close_device() = 0;
00086 
00088 
00092   virtual int sendSOPASCommand(const char* request, std::vector<unsigned char> * reply) = 0;
00093 
00095 
00100   virtual int get_datagram(unsigned char* receiveBuffer, int bufferSize, int* actual_length) = 0;
00101 
00103 
00107   static std::string replyToString(const std::vector<unsigned char> &reply);
00108 
00109   bool isCompatibleDevice(const std::string identStr) const;
00110 
00111 protected:
00112   diagnostic_updater::Updater diagnostics_;
00113 
00114   // Dynamic Reconfigure
00115   SickTimConfig config_;
00116   bool publish_datagram_;
00117   ros::Publisher datagram_pub_;
00118 
00119   // Diagnostics
00120   diagnostic_updater::DiagnosedPublisher<sensor_msgs::LaserScan>* diagnosticPub_;
00121   double expectedFrequency_;
00122 
00123 private:
00124   // ROS
00125   ros::NodeHandle nh_;
00126   ros::Publisher pub_;
00127 
00128 
00129   dynamic_reconfigure::Server<sick_tim::SickTimConfig> dynamic_reconfigure_server_;
00130 
00131   // Parser
00132   AbstractParser* parser_;
00133 };
00134 
00135 } /* namespace sick_tim */
00136 #endif /* SICK_TIM3XX_COMMON_H_ */


sick_tim
Author(s): Jochen Sprickerhof , Martin Günther , Sebastian Pütz
autogenerated on Thu May 9 2019 02:32:02