Provides a simple driver interface for working with the Sick LD-OEM/Sick LD-LRS long-range models via Ethernet. More...

#include <SickLMS1xx.hh>

Inheritance diagram for SickToolbox::SickLMS1xx:

Classes
struct	sick_lms_1xx_scan_config_tag
	A structure for aggregrating the Sick LMS 1xx configuration params. More...

Public Types
enum	sick_lms_1xx_scan_format_t { SICK_LMS_1XX_SCAN_FORMAT_DIST_SINGLE_PULSE_REFLECT_NONE = 0x00, SICK_LMS_1XX_SCAN_FORMAT_DIST_SINGLE_PULSE_REFLECT_8BIT = 0x01, SICK_LMS_1XX_SCAN_FORMAT_DIST_SINGLE_PULSE_REFLECT_16BIT = 0x02, SICK_LMS_1XX_SCAN_FORMAT_DIST_DOUBLE_PULSE_REFLECT_NONE = 0x03, SICK_LMS_1XX_SCAN_FORMAT_DIST_DOUBLE_PULSE_REFLECT_8BIT = 0x04, SICK_LMS_1XX_SCAN_FORMAT_DIST_DOUBLE_PULSE_REFLECT_16BIT = 0x05, SICK_LMS_1XX_SCAN_FORMAT_UNKNOWN = 0xFF }
	Defines the Sick LMS 1xx scan types This enum is for specifiying the desired scan returns. More...

enum	sick_lms_1xx_scan_freq_t { SICK_LMS_1XX_SCAN_FREQ_UNKNOWN = 0x00, SICK_LMS_1XX_SCAN_FREQ_25 = 0x09C4, SICK_LMS_1XX_SCAN_FREQ_50 = 0X1388 }
	Defines the Sick LMS 1xx scan frequency. This enum lists all of the Sick LMS 1xx scan frequencies. More...

enum	sick_lms_1xx_scan_res_t { SICK_LMS_1XX_SCAN_RES_UNKNOWN = 0x00, SICK_LMS_1XX_SCAN_RES_25 = 0x09C4, SICK_LMS_1XX_SCAN_RES_50 = 0x1388 }
	Defines the Sick LMS 1xx scan resolution. This enum lists all of the Sick LMS 1xx scan resolutions. More...

enum	sick_lms_1xx_status_t { SICK_LMS_1XX_STATUS_UNKNOWN = 0x00, SICK_LMS_1XX_STATUS_INITIALIZATION = 0x01, SICK_LMS_1XX_STATUS_CONFIGURATION = 0x02, SICK_LMS_1XX_STATUS_IDLE = 0x03, SICK_LMS_1XX_STATUS_ROTATED = 0x04, SICK_LMS_1XX_STATUS_IN_PREP = 0x05, SICK_LMS_1XX_STATUS_READY = 0x06, SICK_LMS_1XX_STATUS_READY_FOR_MEASUREMENT = 0x07 }
	Defines the Sick LMS 1xx status. This enum lists all of the Sick LMS 1xx status. More...

Public Member Functions
sick_lms_1xx_scan_res_t	DoubleToSickScanRes (const double scan_res) const
	Convert double to corresponding sick_lms_1xx_scan_res_t. More...

void	GetSickMeasurements (unsigned int const range_1_vals, unsigned int const range_2_vals, unsigned int const reflect_1_vals, unsigned int const reflect_2_vals, unsigned int &num_measurements, unsigned int *const dev_status=NULL) throw ( SickIOException, SickConfigException, SickTimeoutException )
	Acquire multi-pulse sick range measurements. More...

sick_lms_1xx_scan_freq_t	GetSickScanFreq () const throw ( SickIOException )
	Gets the Sick LMS 1xx scan frequency. More...

sick_lms_1xx_scan_res_t	GetSickScanRes () const throw ( SickIOException )
	Gets the Sick LMS 1xx scan resolution. More...

double	GetSickStartAngle () const throw ( SickIOException )
	Gets the Sick LMS 1xx scan area start angle [-45,270] deg. More...

double	GetSickStopAngle () const throw ( SickIOException )
	Gets the Sick LMS 1xx scan area start angle [-45,270] deg. More...

void	Initialize (const bool disp_banner=true) throw ( SickIOException, SickThreadException, SickTimeoutException, SickErrorException )
	Initializes the driver and syncs it with Sick LMS 1xx unit. Uses flash params. More...

sick_lms_1xx_scan_freq_t	IntToSickScanFreq (const int scan_freq) const
	Convert integer to corresponding sick_lms_1xx_scan_freq_t. More...

void	SetSickScanDataFormat (const sick_lms_1xx_scan_format_t scan_format) throw ( SickTimeoutException, SickIOException, SickThreadException, SickErrorException )

void	SetSickScanFreqAndRes (const sick_lms_1xx_scan_freq_t scan_freq, const sick_lms_1xx_scan_res_t scan_res) throw ( SickTimeoutException, SickIOException, SickErrorException )
	Sets the Sick LMS 1xx scan frequency and resolution. More...

	SickLMS1xx (const std::string sick_ip_address=DEFAULT_SICK_LMS_1XX_IP_ADDRESS, const uint16_t sick_tcp_port=DEFAULT_SICK_LMS_1XX_TCP_PORT)
	A standard constructor. More...

int	SickScanFreqToInt (const sick_lms_1xx_scan_freq_t scan_freq) const
	Convert sick_lms_1xx_scan_freq_t to corresponding integer. More...

double	SickScanResToDouble (const sick_lms_1xx_scan_res_t scan_res) const
	Convert sick_lms_1xx_scan_res_t to corresponding double. More...

void	Uninitialize (const bool disp_banner=true) throw ( SickIOException, SickTimeoutException, SickErrorException, SickThreadException )
	Tear down the connection between the host and the Sick LD. More...

	~SickLMS1xx ()

Public Member Functions inherited from SickToolbox::SickLIDAR< SickLMS1xxBufferMonitor, SickLMS1xxMessage >
bool	IsInitialized ()

	SickLIDAR ()
	Initializes the buffer monitor. More...

virtual	~SickLIDAR ()
	Destructor tears down buffer monitor. More...

Static Public Attributes
static const int	SICK_LMS_1XX_MAX_NUM_MEASUREMENTS = 1082
	LMS 1xx max number of measurements. More...

Private Types
typedef struct SickToolbox::SickLMS1xx::sick_lms_1xx_scan_config_tag	sick_lms_1xx_scan_config_t
	Adopt c-style convention. More...

Private Member Functions
void	_checkForMeasuringStatus (unsigned int timeout_value=DEFAULT_SICK_LMS_1XX_STATUS_TIMEOUT) throw ( SickTimeoutException, SickIOException )
	Attempts to set and waits until device has in measuring status. More...

char *	_convertNextTokenToUInt (char const str_buffer, unsigned int &num_val, const char const delimeter=" ") const
	Utility function for converting next token into unsigned int. More...

double	_convertSickAngleUnitsToDegs (const int sick_angle) const

unsigned int	_convertSickFreqUnitsToHz (const unsigned int sick_freq) const

bool	_findSubString (const char const str, const char const substr, const unsigned int str_length, const unsigned int substr_length, unsigned int &substr_pos, unsigned int start_pos=0) const
	Searches a string for a substring. More...

void	_getSickScanConfig () throw ( SickTimeoutException, SickIOException )
	Get the scan configuration of the Sick LMS 1xx. More...

std::string	_intToSickConfigErrorStr (const int error) const

sick_lms_1xx_status_t	_intToSickStatus (const int status) const
	Converts int to status. More...

void	_printInitFooter () const
	Prints the initialization footer. More...

void	_printSickScanConfig () const
	Prints Sick LMS 1xx scan configuration. More...

void	_recvMessage (SickLMS1xxMessage &sick_message) const throw ( SickTimeoutException )
	Receive a message. More...

void	_reinitialize () throw ( SickIOException, SickThreadException, SickTimeoutException, SickErrorException )
	Re-initializes the Sick LMS 1xx. More...

void	_requestDataStream () throw ( SickTimeoutException, SickConfigException, SickIOException )
	Request a data data stream type. More...

void	_restoreMeasuringMode () throw ( SickTimeoutException, SickIOException )

void	_sendMessage (const SickLMS1xxMessage &send_message) const throw ( SickIOException )
	Sends a message without waiting for reply. More...

void	_sendMessageAndGetReply (const SickLMS1xxMessage &send_message, SickLMS1xxMessage &recv_message, const std::string reply_command_code, const std::string reply_command, const unsigned int timeout_value=DEFAULT_SICK_LMS_1XX_MESSAGE_TIMEOUT, const unsigned int num_tries=1) throw ( SickIOException, SickTimeoutException )
	Sends a message and searches for the reply with given command type and command. More...

void	_setAuthorizedClientAccessMode () throw ( SickTimeoutException, SickErrorException, SickIOException )
	Login as an authorized client. More...

void	_setSickScanConfig (const sick_lms_1xx_scan_freq_t scan_freq, const sick_lms_1xx_scan_res_t scan_res, const int start_angle, const int stop_angle) throw ( SickTimeoutException, SickIOException, SickErrorException )
	Set the Sick LMS 1xx scan configuration (volatile, does not write to EEPROM) More...

void	_setSickScanDataFormat (const sick_lms_1xx_scan_format_t scan_format) throw ( SickTimeoutException, SickIOException, SickThreadException, SickErrorException )

void	_setupConnection () throw ( SickIOException, SickTimeoutException )
	Establish a TCP connection to the unit. More...

std::string	_sickScanDataFormatToString (const sick_lms_1xx_scan_format_t scan_format) const
	Utility function for returning scan format as string. More...

void	_startMeasuring () throw ( SickTimeoutException, SickIOException )
	Tell the device to start measuring. More...

void	_startStreamingMeasurements () throw ( SickTimeoutException, SickIOException )

void	_stopMeasuring () throw ( SickTimeoutException, SickIOException )
	Tell the device to start measuring. More...

void	_stopStreamingMeasurements (const bool disp_banner=true) throw ( SickTimeoutException, SickIOException )
	Stop Measurment Stream. More...

void	_teardownConnection () throw ( SickIOException )
	Teardown TCP connection to Sick LMS 1xx. More...

void	_updateSickStatus () throw ( SickTimeoutException, SickIOException )
	Get the status of the Sick LMS 1xx. More...

bool	_validScanArea (const int start_angle, const int stop_angle) const
	Utility function to ensure valid scan area. More...

void	_writeToEEPROM () throw ( SickTimeoutException, SickIOException )
	Login as an authorized client. More...

Private Attributes
sick_lms_1xx_status_t	_sick_device_status

struct sockaddr_in	_sick_inet_address_info

std::string	_sick_ip_address

sick_lms_1xx_scan_config_t	_sick_scan_config

sick_lms_1xx_scan_format_t	_sick_scan_format

bool	_sick_streaming

uint16_t	_sick_tcp_port

bool	_sick_temp_safe

Additional Inherited Members
Protected Member Functions inherited from SickToolbox::SickLIDAR< SickLMS1xxBufferMonitor, SickLMS1xxMessage >
double	_computeElapsedTime (const struct timeval &beg_time, const struct timeval &end_time) const

bool	_monitorRunning () const

void	_recvMessage (SickLMS1xxMessage &sick_message, const unsigned int timeout_value) const throw ( SickTimeoutException )
	Attempt to acquire the latest available message from the device. More...

void	_recvMessage (SickLMS1xxMessage &sick_message, const uint8_t *const byte_sequence, const unsigned int byte_sequence_length, const unsigned int timeout_value) const throw ( SickTimeoutException )
	Attempt to acquire a message having a payload beginning w/ the given byte sequence. More...

void	_sendMessage (const SickLMS1xxMessage &sick_message, const unsigned int byte_interval) const throw ( SickIOException )
	Sends a message to the Sick device. More...

virtual void	_sendMessageAndGetReply (const SickLMS1xxMessage &send_message, SickLMS1xxMessage &recv_message, const uint8_t *const byte_sequence, const unsigned int byte_sequence_length, const unsigned int byte_interval, const unsigned int timeout_value, const unsigned int num_tries) throw ( SickTimeoutException, SickIOException)

void	_setBlockingIO () const throw ( SickIOException )
	A simple method for setting blocking I/O. More...

void	_setNonBlockingIO () const throw ( SickIOException )
	A simple method for setting non-blocking I/O. More...

void	_startListening () throw ( SickThreadException )
	Activates the buffer monitor for the driver. More...

void	_stopListening () throw ( SickThreadException )
	Activates the buffer monitor for the driver. More...

Protected Attributes inherited from SickToolbox::SickLIDAR< SickLMS1xxBufferMonitor, SickLMS1xxMessage >
SickLMS1xxBufferMonitor *	_sick_buffer_monitor

int	_sick_fd

bool	_sick_initialized

bool	_sick_monitor_running

Detailed Description

Provides a simple driver interface for working with the Sick LD-OEM/Sick LD-LRS long-range models via Ethernet.

Definition at line 50 of file SickLMS1xx.hh.

Member Typedef Documentation

SickToolbox::SickLMS1xx::sick_lms_1xx_scan_config_t

private

Adopt c-style convention.

Member Enumeration Documentation

enum SickToolbox::SickLMS1xx::sick_lms_1xx_scan_format_t

Defines the Sick LMS 1xx scan types This enum is for specifiying the desired scan returns.

Enumerator
SICK_LMS_1XX_SCAN_FORMAT_DIST_SINGLE_PULSE_REFLECT_NONE	Single-pulse dist, no reflect.
SICK_LMS_1XX_SCAN_FORMAT_DIST_SINGLE_PULSE_REFLECT_8BIT	Single-pulse dist, 8bit reflect.
SICK_LMS_1XX_SCAN_FORMAT_DIST_SINGLE_PULSE_REFLECT_16BIT	Single-pulse dist, 16bit reflect.
SICK_LMS_1XX_SCAN_FORMAT_DIST_DOUBLE_PULSE_REFLECT_NONE	Double-pulse dist, no reflect.
SICK_LMS_1XX_SCAN_FORMAT_DIST_DOUBLE_PULSE_REFLECT_8BIT	Double-pulse dist, 8bit reflect.
SICK_LMS_1XX_SCAN_FORMAT_DIST_DOUBLE_PULSE_REFLECT_16BIT	Double-pulse dist, 16bit reflect.
SICK_LMS_1XX_SCAN_FORMAT_UNKNOWN	Unknown format.

Definition at line 79 of file SickLMS1xx.hh.

enum SickToolbox::SickLMS1xx::sick_lms_1xx_scan_freq_t

Defines the Sick LMS 1xx scan frequency. This enum lists all of the Sick LMS 1xx scan frequencies.

Enumerator
SICK_LMS_1XX_SCAN_FREQ_UNKNOWN	LMS 1xx scan freq unknown.
SICK_LMS_1XX_SCAN_FREQ_25	LMS 1xx scan freq 25Hz.
SICK_LMS_1XX_SCAN_FREQ_50	LMS 1xx scan freq 50Hz.

Definition at line 96 of file SickLMS1xx.hh.

enum SickToolbox::SickLMS1xx::sick_lms_1xx_scan_res_t

Defines the Sick LMS 1xx scan resolution. This enum lists all of the Sick LMS 1xx scan resolutions.

Enumerator
SICK_LMS_1XX_SCAN_RES_UNKNOWN	LMS 1xx scab res unknown.
SICK_LMS_1XX_SCAN_RES_25	LMS 1xx scan res 0.25 deg.
SICK_LMS_1XX_SCAN_RES_50	LMS 1xx scan res 0.50 deg.

Definition at line 109 of file SickLMS1xx.hh.

enum SickToolbox::SickLMS1xx::sick_lms_1xx_status_t

Defines the Sick LMS 1xx status. This enum lists all of the Sick LMS 1xx status.

Enumerator
SICK_LMS_1XX_STATUS_UNKNOWN	LMS 1xx status undefined.
SICK_LMS_1XX_STATUS_INITIALIZATION	LMS 1xx initializing.
SICK_LMS_1XX_STATUS_CONFIGURATION	LMS 1xx configuration.
SICK_LMS_1XX_STATUS_IDLE	LMS 1xx is idle.
SICK_LMS_1XX_STATUS_ROTATED	LMS 1xx mirror rotating.
SICK_LMS_1XX_STATUS_IN_PREP	LMS 1xx in preparation.
SICK_LMS_1XX_STATUS_READY	LMS 1xx is ready.
SICK_LMS_1XX_STATUS_READY_FOR_MEASUREMENT	LMS 1xx is ready to give measurements.

Definition at line 61 of file SickLMS1xx.hh.

Constructor & Destructor Documentation

SickToolbox::SickLMS1xx::SickLMS1xx	(	const std::string	sick_ip_address = `DEFAULT_SICK_LMS_1XX_IP_ADDRESS`,
		const uint16_t	sick_tcp_port = `DEFAULT_SICK_LMS_1XX_TCP_PORT`
	)

A standard constructor.

Primary constructor

Parameters

sick_ip_address	The ip address of the Sick LD
sick_tcp_port	The TCP port associated w/ the Sick LD server

Definition at line 52 of file SickLMS1xx.cc.

SickToolbox::SickLMS1xx::~SickLMS1xx ( )

Destructor

A standard destructor

Definition at line 67 of file SickLMS1xx.cc.

Member Function Documentation

void SickToolbox::SickLMS1xx::_checkForMeasuringStatus	(	unsigned int	timeout_value = `DEFAULT_SICK_LMS_1XX_STATUS_TIMEOUT`	)
throw	(	SickTimeoutException,
		SickIOException
	)

private

Attempts to set and waits until device has in measuring status.

Set device to measuring mode

Parameters

timeout_value Timeout value in usecs

Definition at line 1730 of file SickLMS1xx.cc.

char * SickToolbox::SickLMS1xx::_convertNextTokenToUInt	(	char *const	str_buffer,
		unsigned int &	num_val,
		const char *const	delimeter = `" "`
	)		const

private

Utility function for converting next token into unsigned int.

Utility function for extracting next integer from tokenized string

Parameters

str_buffer	Source (c-string) buffer
next_token	Pointer to the next string token
delimeter	Token delimiter (default is " ")

Returns: Unsigned integer corresponding to numeric string token value

Definition at line 2275 of file SickLMS1xx.cc.

double SickToolbox::SickLMS1xx::_convertSickAngleUnitsToDegs ( const int sick_angle ) const

inlineprivate

Utility function for converting sick freq to doubles

Definition at line 291 of file SickLMS1xx.hh.

unsigned int SickToolbox::SickLMS1xx::_convertSickFreqUnitsToHz ( const unsigned int sick_freq ) const

inlineprivate

Utility function for converting sick Hz values ints

Definition at line 294 of file SickLMS1xx.hh.

bool SickToolbox::SickLMS1xx::_findSubString	(	const char *const	str,
		const char *const	substr,
		const unsigned int	str_length,
		const unsigned int	substr_length,
		unsigned int &	substr_pos,
		unsigned int	start_pos = `0`
	)		const

private

Searches a string for a substring.

Utility function to locate substring in string

Parameters

str	String to be searched
substr	Substring being sought
str_length	String's length
substr_length	Substring's length
substr_pos	Reference holding the location in the main string where substr was found
start_pos	Index into main string to indicate where to start searching

Returns: True if substring found, false otherwise

Definition at line 2242 of file SickLMS1xx.cc.

void SickToolbox::SickLMS1xx::_getSickScanConfig	(		)
throw	(	SickTimeoutException,
		SickIOException
	)

private

Get the scan configuration of the Sick LMS 1xx.

Acquire the Sick LMS's scan config

Definition at line 918 of file SickLMS1xx.cc.

std::string SickToolbox::SickLMS1xx::_intToSickConfigErrorStr ( const int error ) const

private

Utility function to convert config error int to str

Definition at line 2162 of file SickLMS1xx.cc.

sick_lms_1xx_status_t SickToolbox::SickLMS1xx::_intToSickStatus ( const int status ) const

private

Converts int to status.

Utility function to convert int to status

Parameters

status integer corresponding to sick status

Definition at line 2139 of file SickLMS1xx.cc.

void SickToolbox::SickLMS1xx::_printInitFooter ( ) const

private

Prints the initialization footer.

Utility function for printing footer after initialization

Definition at line 2195 of file SickLMS1xx.cc.

void SickToolbox::SickLMS1xx::_printSickScanConfig ( ) const

private

Prints Sick LMS 1xx scan configuration.

Utility function for printing Sick scan config

Definition at line 2182 of file SickLMS1xx.cc.

void SickToolbox::SickLMS1xx::_recvMessage	(	SickLMS1xxMessage &	sick_message	)	const
throw	(	SickTimeoutException
	)

private

Receive a message.

Receive a message

Parameters

sick_message Reference to container to hold received message

Definition at line 2113 of file SickLMS1xx.cc.

void SickToolbox::SickLMS1xx::_reinitialize	(		)
throw	(	SickIOException,
		SickThreadException,
		SickTimeoutException,
		SickErrorException
	)

private

Re-initializes the Sick LMS 1xx.

Re-initialized the device

Definition at line 790 of file SickLMS1xx.cc.

void SickToolbox::SickLMS1xx::_requestDataStream	(		)
throw	(	SickTimeoutException,
		SickConfigException,
		SickIOException
	)

private

Request a data data stream type.

Request a data data stream type

Parameters

dist_opt	Desired distance returns (single-pulse or multi-pulse)
reflect_opt	Desired reflectivity returns (none, 8-bit or 16-bit)

Definition at line 1549 of file SickLMS1xx.cc.

void SickToolbox::SickLMS1xx::_restoreMeasuringMode	(		)
throw	(	SickTimeoutException,
		SickIOException
	)

private

Restore device to measuring mode

Set device to output only range values

Definition at line 1950 of file SickLMS1xx.cc.

void SickToolbox::SickLMS1xx::_sendMessage	(	const SickLMS1xxMessage &	send_message	)	const
throw	(	SickIOException
	)

private

Sends a message without waiting for reply.

Send the message w/o waiting for a reply

Definition at line 2038 of file SickLMS1xx.cc.

void SickToolbox::SickLMS1xx::_sendMessageAndGetReply	(	const SickLMS1xxMessage &	send_message,
		SickLMS1xxMessage &	recv_message,
		const std::string	reply_command_type,
		const std::string	reply_command,
		const unsigned int	timeout_value = `DEFAULT_SICK_LMS_1XX_MESSAGE_TIMEOUT`,
		const unsigned int	num_tries = `1`
	)
throw	(	SickIOException,
		SickTimeoutException
	)

private

Sends a message and searches for the reply with given command type and command.

Send the message and grab expected reply

Parameters

&send_message	The message to be sent to the Sick LMS 2xx unit
&recv_message	The expected message reply from the Sick LMS
reply_command_code	The expected command code for the recv_message
reply_command	The expected command for the recv_message
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 LMS fails to reply

Definition at line 2072 of file SickLMS1xx.cc.

void SickToolbox::SickLMS1xx::_setAuthorizedClientAccessMode	(		)
throw	(	SickTimeoutException,
		SickErrorException,
		SickIOException
	)

private

Login as an authorized client.

Set access mode for configuring device

Definition at line 1236 of file SickLMS1xx.cc.

void SickToolbox::SickLMS1xx::_setSickScanConfig	(	const sick_lms_1xx_scan_freq_t	scan_freq,
		const sick_lms_1xx_scan_res_t	scan_res,
		const int	start_angle,
		const int	stop_angle
	)
throw	(	SickTimeoutException,
		SickIOException,
		SickErrorException
	)

private

Set the Sick LMS 1xx scan configuration (volatile, does not write to EEPROM)

Sets the scan configuration (volatile, does not write to EEPROM)

Parameters

scan_freq	Desired scan frequency (Either SickLMS1xx::SICK_LMS_1XX_SCAN_FREQ_25 or SickLMS1xx::SICK_LMS_1XX_SCAN_FREQ_50)
scan_res	Desired angular resolution (SickLMS1xx::SICK_LMS_1XX_SCAN_RES_25 or SickLMS1xx::SICK_LMS_1XX_SCAN_RES_50)
start_angle	Desired start angle in (1/10000) deg (-450000 to 2250000)
stop_angle	Desired stop angle in (1/10000) deg (-450000 to 2250000)
write_to_eeprom	Indicates whether the value should be written to EEPROM

Definition at line 1063 of file SickLMS1xx.cc.

void SickToolbox::SickLMS1xx::_setSickScanDataFormat	(	const sick_lms_1xx_scan_format_t	scan_format	)
throw	(	SickTimeoutException,
		SickIOException,
		SickThreadException,
		SickErrorException
	)

private

Sets the sick scan data format

Set device to output only range values

Definition at line 1794 of file SickLMS1xx.cc.

void SickToolbox::SickLMS1xx::_setupConnection	(		)
throw	(	SickIOException,
		SickTimeoutException
	)

privatevirtual

Establish a TCP connection to the unit.

Setup the connection parameters and establish TCP connection!

Implements SickToolbox::SickLIDAR< SickLMS1xxBufferMonitor, SickLMS1xxMessage >.

Definition at line 683 of file SickLMS1xx.cc.

std::string SickToolbox::SickLMS1xx::_sickScanDataFormatToString ( const sick_lms_1xx_scan_format_t scan_format ) const

private

Utility function for returning scan format as string.

Utility function for returning scan format as string

Parameters

dist_opt	Distance option corresponding to scan format
reflect_opt	Reflectivity option corresponding to

Definition at line 2210 of file SickLMS1xx.cc.

void SickToolbox::SickLMS1xx::_startMeasuring	(		)
throw	(	SickTimeoutException,
		SickIOException
	)

private

Tell the device to start measuring.

Start device measuring

Definition at line 1404 of file SickLMS1xx.cc.

void SickToolbox::SickLMS1xx::_startStreamingMeasurements	(		)
throw	(	SickTimeoutException,
		SickIOException
	)

private

Start streaming measurements

Definition at line 1593 of file SickLMS1xx.cc.

void SickToolbox::SickLMS1xx::_stopMeasuring	(		)
throw	(	SickTimeoutException,
		SickIOException
	)

private

Tell the device to start measuring.

Stop device measuring

Definition at line 1476 of file SickLMS1xx.cc.

void SickToolbox::SickLMS1xx::_stopStreamingMeasurements	(	const bool	disp_banner = `true`	)
throw	(	SickTimeoutException,
		SickIOException
	)

private

Stop Measurment Stream.

Stop streaming measurements

Definition at line 1660 of file SickLMS1xx.cc.

void SickToolbox::SickLMS1xx::_teardownConnection	(		)
throw	(	SickIOException
	)

privatevirtual

Teardown TCP connection to Sick LMS 1xx.

Teardown the connection to the Sick LD

Implements SickToolbox::SickLIDAR< SickLMS1xxBufferMonitor, SickLMS1xxMessage >.

Definition at line 840 of file SickLMS1xx.cc.

void SickToolbox::SickLMS1xx::_updateSickStatus	(		)
throw	(	SickTimeoutException,
		SickIOException
	)

private

Get the status of the Sick LMS 1xx.

Acquire the latest Sick LMS's status

Definition at line 852 of file SickLMS1xx.cc.

bool SickToolbox::SickLMS1xx::_validScanArea	(	const int	start_angle,
		const int	stop_angle
	)		const

private

Utility function to ensure valid scan area.

Ensures a feasible scan area

Definition at line 2013 of file SickLMS1xx.cc.

void SickToolbox::SickLMS1xx::_writeToEEPROM	(		)
throw	(	SickTimeoutException,
		SickIOException
	)

private

Login as an authorized client.

Save configuration parameters to EEPROM

Definition at line 1330 of file SickLMS1xx.cc.

SickLMS1xx::sick_lms_1xx_scan_res_t SickToolbox::SickLMS1xx::DoubleToSickScanRes ( const double scan_res ) const

Convert double to corresponding sick_lms_1xx_scan_res_t.

Utility function for converting double to scan resolution

Definition at line 651 of file SickLMS1xx.cc.

void SickToolbox::SickLMS1xx::GetSickMeasurements	(	unsigned int *const	range_1_vals,
		unsigned int *const	range_2_vals,
		unsigned int *const	reflect_1_vals,
		unsigned int *const	reflect_2_vals,
		unsigned int &	num_measurements,
		unsigned int *const	dev_status = `NULL`
	)
throw	(	SickIOException,
		SickConfigException,
		SickTimeoutException
	)

Acquire multi-pulse sick range measurements.

Get the Sick Range Measurements

Parameters

range_1_vals	A buffer to hold the range measurements
range_2_vals	A buffer to hold the second pulse range measurements
refelct_1_vals	A buffer to hold the frist pulse reflectivity
reflect_2_vals	A buffer to hold the second pulse reflectivity

Definition at line 316 of file SickLMS1xx.cc.

sick_lms_1xx_scan_freq_t SickToolbox::SickLMS1xx::GetSickScanFreq	(		)	const
throw	(	SickIOException
	)

Gets the Sick LMS 1xx scan frequency.

Get the Sick LMS 1xx scan frequency

Returns: Sick LMS 1xx scan frequency {25,50} Hz

Definition at line 201 of file SickLMS1xx.cc.

sick_lms_1xx_scan_res_t SickToolbox::SickLMS1xx::GetSickScanRes	(		)	const
throw	(	SickIOException
	)

Gets the Sick LMS 1xx scan resolution.

Get the Sick LMS 1xx scan resolution

Returns: Sick LMS 1xx scan resolution {0.25 or 0.5} deg

Definition at line 216 of file SickLMS1xx.cc.

double SickToolbox::SickLMS1xx::GetSickStartAngle	(		)	const
throw	(	SickIOException
	)

Gets the Sick LMS 1xx scan area start angle [-45,270] deg.

Get the Sick LMS 1xx scan start angle

Returns: Sick LMS 1xx start angle as double

Definition at line 231 of file SickLMS1xx.cc.

double SickToolbox::SickLMS1xx::GetSickStopAngle	(		)	const
throw	(	SickIOException
	)

Gets the Sick LMS 1xx scan area start angle [-45,270] deg.

Get the Sick LMS 1xx scan stop angle

Returns: Sick LMS 1xx start angle as double

Definition at line 246 of file SickLMS1xx.cc.

void SickToolbox::SickLMS1xx::Initialize	(	const bool	disp_banner = `true`	)
throw	(	SickIOException,
		SickThreadException,
		SickTimeoutException,
		SickErrorException
	)

Initializes the driver and syncs it with Sick LMS 1xx unit. Uses flash params.

Initializes the Sick LD unit (use scan areas defined in flash)

Definition at line 72 of file SickLMS1xx.cc.

SickLMS1xx::sick_lms_1xx_scan_freq_t SickToolbox::SickLMS1xx::IntToSickScanFreq ( const int scan_freq ) const

Convert integer to corresponding sick_lms_1xx_scan_freq_t.

Utility function for converting integer to scan frequency

Definition at line 619 of file SickLMS1xx.cc.

void SickToolbox::SickLMS1xx::SetSickScanDataFormat	(	const sick_lms_1xx_scan_format_t	scan_format	)
throw	(	SickTimeoutException,
		SickIOException,
		SickThreadException,
		SickErrorException
	)

Sets the sick scan data format

Set device to output only range values

Definition at line 260 of file SickLMS1xx.cc.

void SickToolbox::SickLMS1xx::SetSickScanFreqAndRes	(	const sick_lms_1xx_scan_freq_t	scan_freq,
		const sick_lms_1xx_scan_res_t	scan_res
	)
throw	(	SickTimeoutException,
		SickIOException,
		SickErrorException
	)

Sets the Sick LMS 1xx scan frequency and resolution.

Sets the Sick LMS 1xx scan frequency and scan resolution

Parameters

scan_freq	Desired scan frequency (e.g. SickLMS1xx::SICK_LMS_1XX_SCAN_FREQ_50)
scan_res	Desired scan angular resolution (e.g. SickLMS1xx::SICK_LMS_1XX_SCAN_RES_50)
write_to_eeprom	Write the configuration to EEPROM

Definition at line 148 of file SickLMS1xx.cc.

int SickToolbox::SickLMS1xx::SickScanFreqToInt ( const sick_lms_1xx_scan_freq_t scan_freq ) const

Convert sick_lms_1xx_scan_freq_t to corresponding integer.

Utility function for converting scan frequency to integer

Definition at line 635 of file SickLMS1xx.cc.

double SickToolbox::SickLMS1xx::SickScanResToDouble ( const sick_lms_1xx_scan_res_t scan_res ) const

Convert sick_lms_1xx_scan_res_t to corresponding double.

Utility function for converting scan resolution to double

Definition at line 667 of file SickLMS1xx.cc.

void SickToolbox::SickLMS1xx::Uninitialize	(	const bool	disp_banner = `true`	)
throw	(	SickIOException,
		SickTimeoutException,
		SickErrorException,
		SickThreadException
	)

Tear down the connection between the host and the Sick LD.

Uninitializes the Sick LD unit

Definition at line 539 of file SickLMS1xx.cc.

Member Data Documentation

sick_lms_1xx_status_t SickToolbox::SickLMS1xx::_sick_device_status

private

Sick LMS 1xx configuration struct

Definition at line 203 of file SickLMS1xx.hh.

struct sockaddr_in SickToolbox::SickLMS1xx::_sick_inet_address_info

private

Sick LMS 1xx socket address struct

Definition at line 194 of file SickLMS1xx.hh.

std::string SickToolbox::SickLMS1xx::_sick_ip_address

private

The Sick LMS 1xx IP address

Definition at line 188 of file SickLMS1xx.hh.

sick_lms_1xx_scan_config_t SickToolbox::SickLMS1xx::_sick_scan_config

private

Sick LMS 1xx configuration struct

Definition at line 197 of file SickLMS1xx.hh.

sick_lms_1xx_scan_format_t SickToolbox::SickLMS1xx::_sick_scan_format

private

Sick LMS 1xx current scan data format

Definition at line 200 of file SickLMS1xx.hh.

bool SickToolbox::SickLMS1xx::_sick_streaming

private

Sick LMS 1xx streaming status

Definition at line 209 of file SickLMS1xx.hh.

uint16_t SickToolbox::SickLMS1xx::_sick_tcp_port

private

The Sick LMS 1xx TCP port number

Definition at line 191 of file SickLMS1xx.hh.

bool SickToolbox::SickLMS1xx::_sick_temp_safe

private

Sick LMS 1xx temperature status

Definition at line 206 of file SickLMS1xx.hh.

const int SickToolbox::SickLMS1xx::SICK_LMS_1XX_MAX_NUM_MEASUREMENTS = 1082

static

LMS 1xx max number of measurements.

Definition at line 54 of file SickLMS1xx.hh.

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

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Public Member Functions

Static Public Attributes

Private Types

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