A general class for interfacing w/ SickLMS2xx2xx laser range finders. More...

#include <SickLMS2xx.hh>

Inheritance diagram for SickToolbox::SickLMS2xx:

Classes
struct	sick_lms_2xx_baud_status_tag
	A structure for aggregating the data that collectively define the baud config. More...

struct	sick_lms_2xx_device_config_tag
	A structure for aggregating the data that collectively defines the Sick's config. More...

struct	sick_lms_2xx_field_status_tag
	A structure for aggregating the data that collectively define the signal config and status. More...

struct	sick_lms_2xx_operating_status_tag
	A structure for aggregating the data that collectively defines the operating status of the device. More...

struct	sick_lms_2xx_pollution_status_tag
	A structure for aggregating the data that collectively defines the pollution values and settings for the device. More...

struct	sick_lms_2xx_restart_status_tag
	A structure for aggregating the data that collectively defines the system restart config for the Sick LMS 2xx unit. More...

struct	sick_lms_2xx_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...

struct	sick_lms_2xx_scan_profile_b6_tag
	A structure for aggregating the data that define a scan profile obtained from reply B6 (See page 61 Telegram listing) More...

struct	sick_lms_2xx_scan_profile_b7_tag
	A structure for aggregating the data that define a scan profile obtained from reply B7 (See page 63 Telegram listing) More...

struct	sick_lms_2xx_scan_profile_bf_tag
	A structure for aggregating the data that define a scan profile obtained from reply BF (See page 71 Telegram listing) More...

struct	sick_lms_2xx_scan_profile_c4_tag
	A structure for aggregating the data that define a scan profile obtained from reply B4 (See page 79 Telegram listing) More...

struct	sick_lms_2xx_signal_status_tag
	A structure for aggregating the data that collectively define the signal config and status. More...

struct	sick_lms_2xx_software_status_tag
	A structure for aggregating the data that collectively defines the system software for the Sick LMS 2xx unit. More...

Public Types
typedef struct SickToolbox::SickLMS2xx::sick_lms_2xx_baud_status_tag	sick_lms_2xx_baud_status_t
	Adopt c-style convention. More...

enum	sick_lms_2xx_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 LMS 2xx baud rates. More...

typedef struct SickToolbox::SickLMS2xx::sick_lms_2xx_device_config_tag	sick_lms_2xx_device_config_t
	Adopt c-style convention. More...

typedef struct SickToolbox::SickLMS2xx::sick_lms_2xx_field_status_tag	sick_lms_2xx_field_status_t
	Adopt c-style convention. More...

enum	sick_lms_2xx_measuring_mode_t { SICK_MS_MODE_8_OR_80_FA_FB_DAZZLE = 0x00, SICK_MS_MODE_8_OR_80_REFLECTOR = 0x01, SICK_MS_MODE_8_OR_80_FA_FB_FC = 0x02, SICK_MS_MODE_16_REFLECTOR = 0x03, SICK_MS_MODE_16_FA_FB = 0x04, SICK_MS_MODE_32_REFLECTOR = 0x05, SICK_MS_MODE_32_FA = 0x06, SICK_MS_MODE_32_IMMEDIATE = 0x0F, SICK_MS_MODE_REFLECTIVITY = 0x3F, SICK_MS_MODE_UNKNOWN = 0xFF }
	Defines the measurment modes supported by Sick LMS 2xx. More...

enum	sick_lms_2xx_measuring_units_t { SICK_MEASURING_UNITS_CM = 0x00, SICK_MEASURING_UNITS_MM = 0x01, SICK_MEASURING_UNITS_UNKNOWN = 0xFF }
	Defines the available Sick LMS 2xx measured value units. More...

enum	sick_lms_2xx_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 LMS 2xx. See page 41 of the LMS 2xx telegram manual for additional descriptions of these modes. More...

typedef struct SickToolbox::SickLMS2xx::sick_lms_2xx_operating_status_tag	sick_lms_2xx_operating_status_t
	Adopt c-style convention. More...

enum	sick_lms_2xx_peak_threshold_t { SICK_PEAK_THRESHOLD_DETECTION_WITH_NO_BLACK_EXTENSION = 0x00, SICK_PEAK_THRESHOLD_DETECTION_WITH_BLACK_EXTENSION = 0x01, SICK_PEAK_THRESHOLD_NO_DETECTION_WITH_NO_BLACK_EXTENSION = 0x02, SICK_PEAK_THRESHOLD_NO_DETECTION_WITH_BLACK_EXTENSION = 0x03, SICK_PEAK_THRESHOLD_UNKNOWN = 0xFF }
	Sick peak threshold. Only valid for Sick LMS 200/220! More...

typedef struct SickToolbox::SickLMS2xx::sick_lms_2xx_pollution_status_tag	sick_lms_2xx_pollution_status_t
	Adopt c-style convention. More...

typedef struct SickToolbox::SickLMS2xx::sick_lms_2xx_restart_status_tag	sick_lms_2xx_restart_status_t

enum	sick_lms_2xx_scan_angle_t { SICK_SCAN_ANGLE_90 = 90, SICK_SCAN_ANGLE_100 = 100, SICK_SCAN_ANGLE_180 = 180, SICK_SCAN_ANGLE_UNKNOWN = 0xFF }
	Defines the scan angle for the Sick LMS 2xx. More...

typedef struct SickToolbox::SickLMS2xx::sick_lms_2xx_scan_profile_b0_tag	sick_lms_2xx_scan_profile_b0_t
	Adopt c-style convention. More...

typedef struct SickToolbox::SickLMS2xx::sick_lms_2xx_scan_profile_b6_tag	sick_lms_2xx_scan_profile_b6_t
	Adopt c-style convention. More...

typedef struct SickToolbox::SickLMS2xx::sick_lms_2xx_scan_profile_b7_tag	sick_lms_2xx_scan_profile_b7_t
	Adopt c-style convention. More...

typedef struct SickToolbox::SickLMS2xx::sick_lms_2xx_scan_profile_bf_tag	sick_lms_2xx_scan_profile_bf_t
	Adopt c-style convention. More...

typedef struct SickToolbox::SickLMS2xx::sick_lms_2xx_scan_profile_c4_tag	sick_lms_2xx_scan_profile_c4_t
	Adopt c-style convention. More...

enum	sick_lms_2xx_scan_resolution_t { SICK_SCAN_RESOLUTION_25 = 25, SICK_SCAN_RESOLUTION_50 = 50, SICK_SCAN_RESOLUTION_100 = 100, SICK_SCAN_RESOLUTION_UNKNOWN = 0xFF }
	Defines the available resolution settings for the Sick LMS 2xx. More...

enum	sick_lms_2xx_sensitivity_t { SICK_SENSITIVITY_STANDARD = 0x00, SICK_SENSITIVITY_MEDIUM = 0x01, SICK_SENSITIVITY_LOW = 0x02, SICK_SENSITIVITY_HIGH = 0x03, SICK_SENSITIVITY_UNKNOWN = 0xFF }
	Sick sensitivities. Only valid for Sick LMS 211/221/291! More...

typedef struct SickToolbox::SickLMS2xx::sick_lms_2xx_signal_status_tag	sick_lms_2xx_signal_status_t
	Adopt c-style convention. More...

typedef struct SickToolbox::SickLMS2xx::sick_lms_2xx_software_status_tag	sick_lms_2xx_software_status_t
	Adopt c-style convention. More...

enum	sick_lms_2xx_status_t { SICK_STATUS_OK = 0x00, SICK_STATUS_ERROR = 0x01, SICK_STATUS_UNKNOWN = 0xFF }
	Defines the status of the Sick LMS 2xx unit. More...

enum	sick_lms_2xx_type_t { SICK_LMS_TYPE_200_30106, SICK_LMS_TYPE_211_30106, SICK_LMS_TYPE_211_30206, SICK_LMS_TYPE_211_S07, SICK_LMS_TYPE_211_S14, SICK_LMS_TYPE_211_S15, SICK_LMS_TYPE_211_S19, SICK_LMS_TYPE_211_S20, SICK_LMS_TYPE_220_30106, SICK_LMS_TYPE_221_30106, SICK_LMS_TYPE_221_30206, SICK_LMS_TYPE_221_S07, SICK_LMS_TYPE_221_S14, SICK_LMS_TYPE_221_S15, SICK_LMS_TYPE_221_S16, SICK_LMS_TYPE_221_S19, SICK_LMS_TYPE_221_S20, SICK_LMS_TYPE_291_S05, SICK_LMS_TYPE_291_S14, SICK_LMS_TYPE_291_S15, SICK_LMS_TYPE_UNKNOWN = 0xFF }
	Defines the Sick LMS 2xx types. This enum lists all of the supported Sick LMS models. More...

enum	sick_lms_2xx_variant_t { SICK_LMS_VARIANT_2XX_TYPE_6 = 0x00, SICK_LMS_VARIANT_SPECIAL = 0x01, SICK_LMS_VARIANT_UNKNOWN = 0xFF }
	Defines the Sick LMS 2xx variant type. More...

Public Member Functions
uint8_t	GetSickAvailability () const throw ( SickConfigException )
	Gets the current Sick LMS 2xx availability level flags. More...

std::string	GetSickConfigAsString () const
	Acquire the Sick LMS's config as a printable string. More...

std::string	GetSickDevicePath () const
	Gets the Sick LMS 2xx device path. More...

void	GetSickMeanValues (const uint8_t sick_sample_size, unsigned int const measurement_values, unsigned int &num_measurement_values, unsigned int const sick_telegram_index=NULL, unsigned int *const sick_real_time_index=NULL) throw ( SickConfigException, SickTimeoutException, SickIOException, SickThreadException )
	Returns the most recent mean measured values from the Sick LMS 2xx. More...

void	GetSickMeanValuesSubrange (const uint8_t sick_sample_size, const uint16_t sick_subrange_start_index, const uint16_t sick_subrange_stop_index, unsigned int const measurement_values, unsigned int &num_measurement_values, unsigned int const sick_telegram_index=NULL, unsigned int *const sick_real_time_index=NULL) throw ( SickConfigException, SickTimeoutException, SickIOException, SickThreadException )
	Returns the most recent mean measured values from the specified subrange. More...

sick_lms_2xx_measuring_mode_t	GetSickMeasuringMode () const throw ( SickConfigException )
	Gets the current Sick LMS 2xx measuring mode. More...

SickLMS2xx::sick_lms_2xx_measuring_units_t	GetSickMeasuringUnits () const throw ( SickConfigException )
	Gets the current Sick LMS 2xx measuring units. More...

sick_lms_2xx_operating_mode_t	GetSickOperatingMode () const throw ( SickConfigException )
	Gets the current Sick LMS 2xx operating mode. More...

void	GetSickPartialScan (unsigned int const measurement_values, unsigned int &num_measurement_values, unsigned int &partial_scan_index, unsigned int const sick_field_a_values=NULL, unsigned int const sick_field_b_values=NULL, unsigned int const sick_field_c_values=NULL, unsigned int const sick_telegram_index=NULL, unsigned int const sick_real_time_scan_index=NULL) throw ( SickConfigException, SickTimeoutException, SickIOException, SickThreadException)
	Returns the most recent partial scan obtained by Sick LMS 2xx. More...

sick_lms_2xx_peak_threshold_t	GetSickPeakThreshold () const throw ( SickConfigException )
	Gets the current Sick LMS 2xx sensitivity level. More...

void	GetSickScan (unsigned int const measurement_values, unsigned int &num_measurement_values, unsigned int const sick_field_a_values=NULL, unsigned int const sick_field_b_values=NULL, unsigned int const sick_field_c_values=NULL, unsigned int const sick_telegram_index=NULL, unsigned int const sick_real_time_scan_index=NULL) throw ( SickConfigException, SickTimeoutException, SickIOException, SickThreadException)
	Returns the most recent measured values obtained by the Sick LMS 2xx. More...

void	GetSickScan (unsigned int const range_values, unsigned int const reflect_values, unsigned int &num_range_measurements, unsigned int &num_reflect_measurements, unsigned int const sick_field_a_values=NULL, unsigned int const sick_field_b_values=NULL, unsigned int const sick_field_c_values=NULL, unsigned int const sick_telegram_index=NULL, unsigned int *const sick_real_time_scan_index=NULL) throw ( SickConfigException, SickTimeoutException, SickIOException, SickThreadException)
	Acquires both range and reflectivity values from the Sick LMS 211/221/291-S14 (LMS-FAST) More...

double	GetSickScanAngle () const throw ( SickConfigException )
	Gets the current scan angle of the device. More...

double	GetSickScanResolution () const throw ( SickConfigException )
	Gets the current angular resolution. More...

void	GetSickScanSubrange (const uint16_t sick_subrange_start_index, const uint16_t sick_subrange_stop_index, unsigned int const measurement_values, unsigned int &num_measurement_values, unsigned int const sick_field_a_values=NULL, unsigned int const sick_field_b_values=NULL, unsigned int const sick_field_c_values=NULL, unsigned int const sick_telegram_index=NULL, unsigned int const sick_real_time_scan_index=NULL) throw ( SickConfigException, SickTimeoutException, SickIOException, SickThreadException)
	Returns the most recent measured values from the corresponding subrange. More...

sick_lms_2xx_sensitivity_t	GetSickSensitivity () const throw ( SickConfigException )
	Gets the current Sick LMS 2xx sensitivity level. More...

std::string	GetSickSoftwareVersionAsString () const
	Acquire the Sick LMS's operating params as a printable string. More...

sick_lms_2xx_status_t	GetSickStatus () throw ( SickConfigException, SickTimeoutException, SickIOException, SickThreadException )
	Acquire the Sick LMS 2xx status. More...

std::string	GetSickStatusAsString () const
	Acquire the Sick LMS's status as a printable string. More...

sick_lms_2xx_type_t	GetSickType () const throw ( SickConfigException )
	Gets the Sick LMS 2xx type. More...

void	Initialize (const sick_lms_2xx_baud_t desired_baud_rate, const uint32_t delay=0) throw ( SickConfigException, SickTimeoutException, SickIOException, SickThreadException)
	Attempts to initialize the Sick LMS 2xx and then sets communication at at the given baud rate. More...

bool	IsSickLMS2xxFast () const throw ( SickConfigException )
	Indicates whether the device is an LMS Fast. More...

void	PrintSickConfig () const
	Prints out the Sick LMS configurations parameters. More...

void	PrintSickSoftwareVersion () const
	Prints out relevant software versioning information. More...

void	PrintSickStatus () const
	Prints ths status of the Sick LMS 2xx unit. More...

void	ResetSick () throw ( SickConfigException, SickTimeoutException, SickIOException, SickThreadException )
	Reset the Sick LMS 2xx active field values NOTE: Considered successful if the LMS ready message is received. More...

void	SetSickAvailability (const uint8_t sick_availability_flags=SICK_FLAG_AVAILABILITY_DEFAULT) throw ( SickConfigException, SickTimeoutException, SickIOException, SickThreadException )
	Sets the availability level of the device. More...

void	SetSickMeasuringMode (const sick_lms_2xx_measuring_mode_t sick_measuring_mode=SICK_MS_MODE_8_OR_80_FA_FB_DAZZLE) throw ( SickConfigException, SickTimeoutException, SickIOException, SickThreadException )
	Sets the measuring mode for the device. More...

void	SetSickMeasuringUnits (const sick_lms_2xx_measuring_units_t sick_units=SICK_MEASURING_UNITS_MM) throw ( SickConfigException, SickTimeoutException, SickIOException, SickThreadException )
	Sets the measurement units for the device. More...

void	SetSickPeakThreshold (const sick_lms_2xx_peak_threshold_t sick_peak_threshold=SICK_PEAK_THRESHOLD_DETECTION_WITH_NO_BLACK_EXTENSION) throw ( SickConfigException, SickTimeoutException, SickIOException, SickThreadException )
	Sets the Sick LMS sensitivity level. More...

void	SetSickSensitivity (const sick_lms_2xx_sensitivity_t sick_sensitivity=SICK_SENSITIVITY_STANDARD) throw ( SickConfigException, SickTimeoutException, SickIOException, SickThreadException )
	Sets the Sick LMS sensitivity level. More...

void	SetSickVariant (const sick_lms_2xx_scan_angle_t scan_angle, const sick_lms_2xx_scan_resolution_t scan_resolution) throw ( SickConfigException, SickTimeoutException, SickIOException, SickThreadException)
	Sets the variant of the Sick LMS 2xx (scan angle and scan resolution) More...

	SickLMS2xx (const std::string sick_device_path)
	Primary constructor. More...

void	Uninitialize () throw ( SickConfigException, SickTimeoutException, SickIOException, SickThreadException )
	Uninitializes the LMS by putting it in a mode where it stops streaming data, and returns it to the default baud rate (specified in the header). More...

	~SickLMS2xx ()
	Destructor. More...

Public Member Functions inherited from SickToolbox::SickLIDAR< SickLMS2xxBufferMonitor, SickLMS2xxMessage >
bool	IsInitialized ()

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

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

Static Public Member Functions
static sick_lms_2xx_scan_resolution_t	DoubleToSickScanResolution (const double scan_resolution_double)
	Converts double to corresponding Sick LMS scan resolution. More...

static sick_lms_2xx_baud_t	IntToSickBaud (const int baud_int)
	Converts integer to corresponding Sick LMS baud. More...

static sick_lms_2xx_scan_angle_t	IntToSickScanAngle (const int scan_angle_int)
	Converts integer to corresponding Sick LMS scan angle. More...

static sick_lms_2xx_scan_resolution_t	IntToSickScanResolution (const int scan_resolution_int)
	Converts integer to corresponding Sick LMS scan resolution. More...

static std::string	SickBaudToString (const sick_lms_2xx_baud_t baud_rate)
	Converts Sick LMS baud to a corresponding string. More...

static std::string	SickMeasuringModeToString (const sick_lms_2xx_measuring_mode_t sick_measuring_mode)
	Converts the Sick measuring mode to a corresponding string. More...

static std::string	SickMeasuringUnitsToString (const sick_lms_2xx_measuring_units_t sick_units)
	Converts the Sick LMS measurement units to a corresponding string. More...

static std::string	SickOperatingModeToString (const sick_lms_2xx_operating_mode_t sick_operating_mode)
	Converts the Sick operating mode to a corresponding string. More...

static std::string	SickPeakThresholdToString (const sick_lms_2xx_peak_threshold_t sick_peak_threshold)
	Converts Sick LMS 2xx peak threshold to a corresponding string. More...

static std::string	SickSensitivityToString (const sick_lms_2xx_sensitivity_t sick_sensitivity)
	Converts Sick LMS 2xx sensitivity level to a corresponding string. More...

static std::string	SickStatusToString (const sick_lms_2xx_status_t sick_status)
	Converts the Sick LMS 2xx status code to a string. More...

static std::string	SickTypeToString (const sick_lms_2xx_type_t sick_type)
	Converts the Sick LMS type to a corresponding string. More...

static sick_lms_2xx_baud_t	StringToSickBaud (const std::string baud_str)
	Converts string to corresponding Sick LMS baud. More...

Static Public Attributes
static const uint8_t	SICK_FLAG_AVAILABILITY_DAZZLE_NO_EFFECT = 0x04
	Dazzle evalutation has no effect on switching outputs. More...

static const uint8_t	SICK_FLAG_AVAILABILITY_DEFAULT = 0x00
	Availability unspecified. More...

static const uint8_t	SICK_FLAG_AVAILABILITY_HIGH = 0x01
	Highest availability (comparable to LMS types 1 to 5) More...

static const uint8_t	SICK_FLAG_AVAILABILITY_REAL_TIME_INDICES = 0x02
	Send real-time indices. More...

static const uint16_t	SICK_MAX_NUM_MEASUREMENTS = 721
	Maximum number of measurements returned by the Sick LMS. More...

Protected Member Functions
sick_lms_2xx_baud_t	_baudToSickBaud (const int baud_rate) const
	Converts a termios baud to an equivalent Sick baud. More...

void	_extractSickMeasurementValues (const uint8_t const byte_sequence, const uint16_t num_measurements, uint16_t const measured_values, uint8_t const field_a_values=NULL, uint8_t const field_b_values=NULL, uint8_t *const field_c_values=NULL) const
	Extracts the measured values (w/ flags) that were returned by the device. More...

void	_flushTerminalBuffer () throw ( SickThreadException )
	Flushes terminal I/O buffers. More...

void	_getSickConfig () throw ( SickTimeoutException, SickIOException, SickThreadException )
	Acquires (and buffers) the current Sick LMS configuration from the device. More...

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 LMS. More...

void	_getSickStatus () throw ( SickTimeoutException, SickIOException, SickThreadException )
	Acquires (and buffers) the status of the Sick LMS 2xx. More...

void	_getSickType () throw ( SickTimeoutException, SickIOException, SickThreadException )
	Acquires the sick device type (as a string) from the unit. More...

bool	_isSickLMS200 () const
	Indicates whether the Sick is an LMS 200. More...

bool	_isSickLMS211 () const
	Indicates whether the Sick is an LMS 211. More...

bool	_isSickLMS220 () const
	Indicates whether the Sick is an LMS 220. More...

bool	_isSickLMS221 () const
	Indicates whether the Sick is an LMS 221. More...

bool	_isSickLMS291 () const
	Indicates whether the Sick is an LMS 291. More...

bool	_isSickUnknown () const
	Indicates whether the Sick type is unknown. More...

void	_parseSickConfigProfile (const uint8_t *const src_buffer, sick_lms_2xx_device_config_t &sick_device_config) const
	Parses a byte sequence into a Sick config structure. More...

void	_parseSickScanProfileB0 (const uint8_t *const src_buffer, sick_lms_2xx_scan_profile_b0_t &sick_scan_profile) const
	Parses a byte sequence into a scan profile corresponding to message B0. More...

void	_parseSickScanProfileB6 (const uint8_t *const src_buffer, sick_lms_2xx_scan_profile_b6_t &sick_scan_profile) const
	Parses a byte sequence into a scan profile corresponding to message B6. More...

void	_parseSickScanProfileB7 (const uint8_t *const src_buffer, sick_lms_2xx_scan_profile_b7_t &sick_scan_profile) const
	Parses a byte sequence into a scan profile corresponding to message B7. More...

void	_parseSickScanProfileBF (const uint8_t *const src_buffer, sick_lms_2xx_scan_profile_bf_t &sick_scan_profile) const
	Parses a byte sequence into a scan profile corresponding to message B6. More...

void	_parseSickScanProfileC4 (const uint8_t *const src_buffer, sick_lms_2xx_scan_profile_c4_t &sick_scan_profile) const
	Parses a byte sequence into a scan profile corresponding to message C4. More...

bool	_returningRealTimeIndices () const

void	_sendMessageAndGetReply (const SickLMS2xxMessage &sick_send_message, SickLMS2xxMessage &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. More...

void	_sendMessageAndGetReply (const SickLMS2xxMessage &sick_send_message, SickLMS2xxMessage &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. More...

void	_setSessionBaud (const sick_lms_2xx_baud_t baud_rate) throw ( SickIOException, SickThreadException, SickTimeoutException )
	Sets the baud rate for the current communication session. More...

void	_setSickConfig (const sick_lms_2xx_device_config_t &sick_config) throw ( SickConfigException, SickTimeoutException, SickIOException, SickThreadException )
	Sets the current configuration in flash. More...

void	_setSickOpModeDiagnostic () throw ( SickConfigException, SickTimeoutException, SickIOException, SickThreadException)
	Sets the device to diagnostic mode. More...

void	_setSickOpModeInstallation () throw ( SickConfigException, SickTimeoutException, SickIOException, SickThreadException)
	Sets the device to installation mode. More...

void	_setSickOpModeMonitorRequestValues () throw ( SickConfigException, SickTimeoutException, SickIOException, SickThreadException)
	Sets the device to monitor mode and tells it to send values only upon request. More...

void	_setSickOpModeMonitorStreamMeanValues (const uint8_t sample_size) throw ( SickConfigException, SickTimeoutException, SickIOException, SickThreadException)
	Sets the device to monitor mode and tells it to send mean measured values. More...

void	_setSickOpModeMonitorStreamMeanValuesSubrange (const uint16_t sample_size, const uint16_t subrange_start_index, const uint16_t subrange_stop_index) throw ( SickConfigException, SickTimeoutException, SickIOException, SickThreadException)
	Sets the device to monitor mode and tells it to send a mean value subrange. More...

void	_setSickOpModeMonitorStreamRangeAndReflectivity () throw ( SickConfigException, SickTimeoutException, SickIOException, SickThreadException)
	Sets the device to monitor mode and tells it to stream both range and reflectivity values. More...

void	_setSickOpModeMonitorStreamValues () throw ( SickConfigException, SickTimeoutException, SickIOException, SickThreadException)
	Sets the device to monitor mode and tells it to stream measured values. More...

void	_setSickOpModeMonitorStreamValuesFromPartialScan () throw ( SickConfigException, SickTimeoutException, SickIOException, SickThreadException)
	Sets the device to monitor mode and tells it to start sending partial scans. More...

void	_setSickOpModeMonitorStreamValuesSubrange (const uint16_t subrange_start_index, const uint16_t subrange_stop_index) throw ( SickConfigException, SickTimeoutException, SickIOException, SickThreadException)
	Sets the device to monitor mode and tells it to send a measured value subrange. More...

void	_setTerminalBaud (const sick_lms_2xx_baud_t sick_baud) throw ( SickIOException, SickThreadException )
	Sets the local terminal baud rate. More...

void	_setupConnection () throw ( SickIOException, SickThreadException )
	Attempts to open a I/O stream using the device path given at object instantiation. More...

void	_setupConnection (const uint32_t delay) throw ( SickIOException, SickThreadException )
	Attempts to open a I/O stream using the device path given at object instantiation. More...

std::string	_sickAvailabilityToString (const uint8_t availability_code) const
	Converts given restart level to a corresponding string. More...

std::string	_sickContourFunctionToString (const uint8_t contour_function_code) const
	Converts Sick LMS contour function code to a corresponding string. More...

std::string	_sickRestartToString (const uint8_t restart_code) const
	Converts restart code to a corresponding string. More...

std::string	_sickSubtractiveFieldsToString (const uint8_t subt_field_code) const
	Converts Sick LMS subtractive fields code to a corresponding string. More...

std::string	_sickTemporaryFieldToString (const uint8_t temp_field_code) const
	Converts Sick LMS temporary field code to a corresponding string. More...

std::string	_sickVariantToString (const unsigned int sick_variant) const
	Converts the Sick LMS variant to a corresponding string. More...

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 LMS 2xx. More...

void	_teardownConnection () throw ( SickIOException )
	Closes the data connection associated with the device. More...

bool	_testSickBaud (const sick_lms_2xx_baud_t baud_rate) throw ( SickIOException, SickThreadException )
	Attempts to detect whether the LMS is operating at the given baud rate. More...

bool	_validSickMeasuringMode (const sick_lms_2xx_measuring_mode_t sick_measuring_mode) const
	Indicates whether the given measuring mode is defined. More...

bool	_validSickMeasuringUnits (const sick_lms_2xx_measuring_units_t sick_units) const
	Indicates whether the given measuring units are valid/defined. More...

bool	_validSickPeakThreshold (const sick_lms_2xx_peak_threshold_t sick_peak_threshold) const
	Indicates whether the given peak threshold is valid. More...

bool	_validSickScanAngle (const sick_lms_2xx_scan_angle_t sick_scan_angle) const
	Indicates whether the given scan angle is defined. More...

bool	_validSickScanResolution (const sick_lms_2xx_scan_resolution_t sick_scan_resolution) const
	Indicates whether the given scan resolution is defined. More...

bool	_validSickSensitivity (const sick_lms_2xx_sensitivity_t sick_sensitivity) const
	Indicates whether the given sensitivity is defined. More...

Protected Member Functions inherited from SickToolbox::SickLIDAR< SickLMS2xxBufferMonitor, SickLMS2xxMessage >
double	_computeElapsedTime (const struct timeval &beg_time, const struct timeval &end_time) const

bool	_monitorRunning () const

void	_recvMessage (SickLMS2xxMessage &sick_message, const unsigned int timeout_value) const throw ( SickTimeoutException )
	Attempt to acquire the latest available message from the device. More...

void	_recvMessage (SickLMS2xxMessage &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 SickLMS2xxMessage &sick_message, const unsigned int byte_interval) const throw ( SickIOException )
	Sends a message to the Sick device. More...

virtual void	_sendMessageAndGetReply (const SickLMS2xxMessage &send_message, SickLMS2xxMessage &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
sick_lms_2xx_baud_t	_curr_session_baud

sick_lms_2xx_baud_t	_desired_session_baud

struct termios	_old_term

sick_lms_2xx_baud_status_t	_sick_baud_status

sick_lms_2xx_device_config_t	_sick_device_config

std::string	_sick_device_path

sick_lms_2xx_field_status_t	_sick_field_status

uint8_t	_sick_mean_value_sample_size

sick_lms_2xx_operating_status_t	_sick_operating_status

sick_lms_2xx_pollution_status_t	_sick_pollution_status

sick_lms_2xx_restart_status_t	_sick_restart_status

sick_lms_2xx_signal_status_t	_sick_signal_status

sick_lms_2xx_software_status_t	_sick_software_status

sick_lms_2xx_type_t	_sick_type

uint16_t	_sick_values_subrange_start_index

uint16_t	_sick_values_subrange_stop_index

Protected Attributes inherited from SickToolbox::SickLIDAR< SickLMS2xxBufferMonitor, SickLMS2xxMessage >
SickLMS2xxBufferMonitor *	_sick_buffer_monitor

int	_sick_fd

bool	_sick_initialized

bool	_sick_monitor_running

Detailed Description

A general class for interfacing w/ SickLMS2xx2xx laser range finders.

This class implements the basic telegram protocol for SickLMS2xx2xx range finders. It allows the setting of such parameters as angular resolution, fov, etc...

Definition at line 50 of file SickLMS2xx.hh.

Member Typedef Documentation

SickToolbox::SickLMS2xx::sick_lms_2xx_baud_status_t

Adopt c-style convention.

SickToolbox::SickLMS2xx::sick_lms_2xx_device_config_t

Adopt c-style convention.

SickToolbox::SickLMS2xx::sick_lms_2xx_field_status_t

Adopt c-style convention.

SickToolbox::SickLMS2xx::sick_lms_2xx_operating_status_t

Adopt c-style convention.

SickToolbox::SickLMS2xx::sick_lms_2xx_pollution_status_t

Adopt c-style convention.

typedef struct SickToolbox::SickLMS2xx::sick_lms_2xx_restart_status_tag SickToolbox::SickLMS2xx::sick_lms_2xx_restart_status_t

SickToolbox::SickLMS2xx::sick_lms_2xx_scan_profile_b0_t

Adopt c-style convention.

SickToolbox::SickLMS2xx::sick_lms_2xx_scan_profile_b6_t

Adopt c-style convention.

SickToolbox::SickLMS2xx::sick_lms_2xx_scan_profile_b7_t

Adopt c-style convention.

SickToolbox::SickLMS2xx::sick_lms_2xx_scan_profile_bf_t

Adopt c-style convention.

SickToolbox::SickLMS2xx::sick_lms_2xx_scan_profile_c4_t

Adopt c-style convention.

SickToolbox::SickLMS2xx::sick_lms_2xx_signal_status_t

Adopt c-style convention.

SickToolbox::SickLMS2xx::sick_lms_2xx_software_status_t

Adopt c-style convention.

Member Enumeration Documentation

enum SickToolbox::SickLMS2xx::sick_lms_2xx_baud_t

Defines available Sick LMS 2xx 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 223 of file SickLMS2xx.hh.

enum SickToolbox::SickLMS2xx::sick_lms_2xx_measuring_mode_t

Defines the measurment modes supported by Sick LMS 2xx.

Enumerator
SICK_MS_MODE_8_OR_80_FA_FB_DAZZLE	Measurement range 8m/80m; fields A,B and Dazzle (Default)
SICK_MS_MODE_8_OR_80_REFLECTOR	Measurement range 8/80m; reflector bits in 8 levels.
SICK_MS_MODE_8_OR_80_FA_FB_FC	Measurement range 8/80m; fields A,B, and C.
SICK_MS_MODE_16_REFLECTOR	Measurement range 16m; reflector bits in 4 levels.
SICK_MS_MODE_16_FA_FB	Measurement range 16m; fields A and B.
SICK_MS_MODE_32_REFLECTOR	Measurement range 32m; reflector bit in 2 levels.
SICK_MS_MODE_32_FA	Measurement range 32m; field A.
SICK_MS_MODE_32_IMMEDIATE	Measurement range 32m; immediate data transmission, no flags.
SICK_MS_MODE_REFLECTIVITY	Sick LMS 2xx returns reflectivity (echo amplitude) values instead of range measurements.
SICK_MS_MODE_UNKNOWN	Unknown range.

Definition at line 180 of file SickLMS2xx.hh.

enum SickToolbox::SickLMS2xx::sick_lms_2xx_measuring_units_t

Defines the available Sick LMS 2xx measured value units.

Enumerator
SICK_MEASURING_UNITS_CM	Measured values are in centimeters.
SICK_MEASURING_UNITS_MM	Measured values are in milimeters.
SICK_MEASURING_UNITS_UNKNOWN	Unknown units.

Definition at line 136 of file SickLMS2xx.hh.

enum SickToolbox::SickLMS2xx::sick_lms_2xx_operating_mode_t

Defines the operating modes supported by Sick LMS 2xx. See page 41 of the LMS 2xx telegram manual for additional descriptions of these modes.

Enumerator
SICK_OP_MODE_INSTALLATION	Installation mode for writing EEPROM.
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 198 of file SickLMS2xx.hh.

enum SickToolbox::SickLMS2xx::sick_lms_2xx_peak_threshold_t

Sick peak threshold. Only valid for Sick LMS 200/220!

Enumerator
SICK_PEAK_THRESHOLD_DETECTION_WITH_NO_BLACK_EXTENSION	Standard: peak threshold detection, no black extension.
SICK_PEAK_THRESHOLD_DETECTION_WITH_BLACK_EXTENSION	Peak threshold detection, active black extension.
SICK_PEAK_THRESHOLD_NO_DETECTION_WITH_NO_BLACK_EXTENSION	No peak threshold detection, no black extension.
SICK_PEAK_THRESHOLD_NO_DETECTION_WITH_BLACK_EXTENSION	No peak threshold detection, active black extension.
SICK_PEAK_THRESHOLD_UNKNOWN	Peak threshold unknown.

Definition at line 158 of file SickLMS2xx.hh.

enum SickToolbox::SickLMS2xx::sick_lms_2xx_scan_angle_t

Defines the scan angle for the Sick LMS 2xx.

Enumerator
SICK_SCAN_ANGLE_90	Scanning angle of 90 degrees.
SICK_SCAN_ANGLE_100	Scanning angle of 100 degrees.
SICK_SCAN_ANGLE_180	Scanning angle of 180 degrees.
SICK_SCAN_ANGLE_UNKNOWN	Unknown scanning angle.

Definition at line 114 of file SickLMS2xx.hh.

enum SickToolbox::SickLMS2xx::sick_lms_2xx_scan_resolution_t

Defines the available resolution settings for the Sick LMS 2xx.

Enumerator
SICK_SCAN_RESOLUTION_25	0.25 degree angular resolution
SICK_SCAN_RESOLUTION_50	0.50 degree angular resolution
SICK_SCAN_RESOLUTION_100	1.00 degree angular resolution
SICK_SCAN_RESOLUTION_UNKNOWN	Unknown angular resolution.

Definition at line 125 of file SickLMS2xx.hh.

enum SickToolbox::SickLMS2xx::sick_lms_2xx_sensitivity_t

Sick sensitivities. Only valid for Sick LMS 211/221/291!

Enumerator
SICK_SENSITIVITY_STANDARD	Standard sensitivity: 30m @ 10% reflectivity.
SICK_SENSITIVITY_MEDIUM	Medium sensitivity: 25m @ 10% reflectivity.
SICK_SENSITIVITY_LOW	Low sensitivity: 20m @ 10% reflectivity.
SICK_SENSITIVITY_HIGH	High sensitivity: 42m @ 10% reflectivity.
SICK_SENSITIVITY_UNKNOWN	Sensitivity unknown.

Definition at line 146 of file SickLMS2xx.hh.

enum SickToolbox::SickLMS2xx::sick_lms_2xx_status_t

Defines the status of the Sick LMS 2xx unit.

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

Definition at line 170 of file SickLMS2xx.hh.

enum SickToolbox::SickLMS2xx::sick_lms_2xx_type_t

Defines the Sick LMS 2xx types. This enum lists all of the supported Sick LMS models.

Enumerator
SICK_LMS_TYPE_200_30106	Sick LMS type 200-30106.
SICK_LMS_TYPE_211_30106	Sick LMS type 211-30106.
SICK_LMS_TYPE_211_30206	Sick LMS type 211-30206.
SICK_LMS_TYPE_211_S07	Sick LMS type 211-S07.
SICK_LMS_TYPE_211_S14	Sick LMS type 211-S14.
SICK_LMS_TYPE_211_S15	Sick LMS type 211-S15.
SICK_LMS_TYPE_211_S19	Sick LMS type 211-S19.
SICK_LMS_TYPE_211_S20	Sick LMS type 211-S20.
SICK_LMS_TYPE_220_30106	Sick LMS type 220-30106.
SICK_LMS_TYPE_221_30106	Sick LMS type 221-30106.
SICK_LMS_TYPE_221_30206	Sick LMS type 221-30206.
SICK_LMS_TYPE_221_S07	Sick LMS type 221-S07.
SICK_LMS_TYPE_221_S14	Sick LMS type 221-S14.
SICK_LMS_TYPE_221_S15	Sick LMS type 221-S15.
SICK_LMS_TYPE_221_S16	Sick LMS type 221-S16.
SICK_LMS_TYPE_221_S19	Sick LMS type 221-S19.
SICK_LMS_TYPE_221_S20	Sick LMS type 221-S20.
SICK_LMS_TYPE_291_S05	Sick LMS type 291-S05.
SICK_LMS_TYPE_291_S14	Sick LMS type 291-S14 (LMS Fast)
SICK_LMS_TYPE_291_S15	Sick LMS type 291-S15.
SICK_LMS_TYPE_UNKNOWN	Unknown sick type.

Definition at line 63 of file SickLMS2xx.hh.

enum SickToolbox::SickLMS2xx::sick_lms_2xx_variant_t

Defines the Sick LMS 2xx variant type.

Enumerator
SICK_LMS_VARIANT_2XX_TYPE_6	Standard LMS 2xx type 6 models.
SICK_LMS_VARIANT_SPECIAL	Special models (i.e. LMS211-/221-S19/-S20.
SICK_LMS_VARIANT_UNKNOWN	Unknown LMS variant.

Definition at line 104 of file SickLMS2xx.hh.

Constructor & Destructor Documentation

SickToolbox::SickLMS2xx::SickLMS2xx ( const std::string sick_device_path )

Primary constructor.

Constructor

Parameters

sick_device_path The path of the device

Definition at line 45 of file SickLMS2xx.cc.

SickToolbox::SickLMS2xx::~SickLMS2xx ( )

Destructor.

Destructor

Definition at line 71 of file SickLMS2xx.cc.

Member Function Documentation

sick_lms_2xx_baud_t SickToolbox::SickLMS2xx::_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 LMS baud rate command.

Parameters

baud_rate The baud rate to be converted to a Sick LMS baud

Returns: The Sick LMS 2xx equivalent of the given baud rate

Definition at line 5016 of file SickLMS2xx.cc.

void SickToolbox::SickLMS2xx::_extractSickMeasurementValues	(	const uint8_t *const	byte_sequence,
		const uint16_t	num_measurements,
		uint16_t *const	measured_values,
		uint8_t *const	field_a_values = `NULL`,
		uint8_t *const	field_b_values = `NULL`,
		uint8_t *const	field_c_values = `NULL`
	)		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 4624 of file SickLMS2xx.cc.

void SickToolbox::SickLMS2xx::_flushTerminalBuffer	(		)
throw	(	SickThreadException
	)

protected

Flushes terminal I/O buffers.

Flushes the terminal I/O buffers

Definition at line 2396 of file SickLMS2xx.cc.

void SickToolbox::SickLMS2xx::_getSickConfig	(		)
throw	(	SickTimeoutException,
		SickIOException,
		SickThreadException
	)

protected

Acquires (and buffers) the current Sick LMS configuration from the device.

Gets the current Sick configuration settings

Definition at line 2899 of file SickLMS2xx.cc.

void SickToolbox::SickLMS2xx::_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 LMS.

Gets the error status of the Sick LMS

Definition at line 3138 of file SickLMS2xx.cc.

void SickToolbox::SickLMS2xx::_getSickStatus	(		)
throw	(	SickTimeoutException,
		SickIOException,
		SickThreadException
	)

protected

Acquires (and buffers) the status of the Sick LMS 2xx.

Gets the status of the LMS

Definition at line 3216 of file SickLMS2xx.cc.

void SickToolbox::SickLMS2xx::_getSickType	(		)
throw	(	SickTimeoutException,
		SickIOException,
		SickThreadException
	)

protected

Acquires the sick device type (as a string) from the unit.

Gets the type of Sick LMS

Definition at line 2781 of file SickLMS2xx.cc.

bool SickToolbox::SickLMS2xx::_isSickLMS200 ( ) const

protected

Indicates whether the Sick is an LMS 200.

Indicates whether the Sick LMS is type 200

Returns: True if the device is a Sick LMS 200, False otherwise

Definition at line 4799 of file SickLMS2xx.cc.

bool SickToolbox::SickLMS2xx::_isSickLMS211 ( ) const

protected

Indicates whether the Sick is an LMS 211.

Indicates whether the Sick LMS is type 211

Returns: True if the device is a Sick LMS 211, False otherwise

Definition at line 4815 of file SickLMS2xx.cc.

bool SickToolbox::SickLMS2xx::_isSickLMS220 ( ) const

protected

Indicates whether the Sick is an LMS 220.

Indicates whether the Sick LMS is type 220

Returns: True if the device is a Sick LMS 220, False otherwise

Definition at line 4843 of file SickLMS2xx.cc.

bool SickToolbox::SickLMS2xx::_isSickLMS221 ( ) const

protected

Indicates whether the Sick is an LMS 221.

Indicates whether the Sick LMS is type 221

Returns: True if the device is a Sick LMS 221, False otherwise

Definition at line 4859 of file SickLMS2xx.cc.

bool SickToolbox::SickLMS2xx::_isSickLMS291 ( ) const

protected

Indicates whether the Sick is an LMS 291.

Indicates whether the Sick LMS is type 291

Returns: True if the device is a Sick LMS 291, False otherwise

Definition at line 4889 of file SickLMS2xx.cc.

bool SickToolbox::SickLMS2xx::_isSickUnknown ( ) const

protected

Indicates whether the Sick type is unknown.

Indicates whether the Sick LMS type is unknown

Returns: True if the device is unknown, False otherwise

Definition at line 4909 of file SickLMS2xx.cc.

void SickToolbox::SickLMS2xx::_parseSickConfigProfile	(	const uint8_t *const	src_buffer,
		sick_lms_2xx_device_config_t &	sick_device_config
	)		const

protected

Parses a byte sequence into a Sick config structure.

A function for parsing a byte sequence into a device config structure

Parameters

*src_buffer	The byte sequence to be parsed
&sick_device_config	The device configuration

Definition at line 4515 of file SickLMS2xx.cc.

void SickToolbox::SickLMS2xx::_parseSickScanProfileB0	(	const uint8_t *const	src_buffer,
		sick_lms_2xx_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 4329 of file SickLMS2xx.cc.

void SickToolbox::SickLMS2xx::_parseSickScanProfileB6	(	const uint8_t *const	src_buffer,
		sick_lms_2xx_scan_profile_b6_t &	sick_scan_profile
	)		const

protected

Parses a byte sequence into a scan profile corresponding to message B6.

Parses the scan profile returned w/ message B6

Parameters

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

Definition at line 4362 of file SickLMS2xx.cc.

void SickToolbox::SickLMS2xx::_parseSickScanProfileB7	(	const uint8_t *const	src_buffer,
		sick_lms_2xx_scan_profile_b7_t &	sick_scan_profile
	)		const

protected

Parses a byte sequence into a scan profile corresponding to message B7.

Parses the scan profile returned w/ message B6

Parameters

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

Definition at line 4392 of file SickLMS2xx.cc.

void SickToolbox::SickLMS2xx::_parseSickScanProfileBF	(	const uint8_t *const	src_buffer,
		sick_lms_2xx_scan_profile_bf_t &	sick_scan_profile
	)		const

protected

Parses a byte sequence into a scan profile corresponding to message B6.

Parses the scan profile returned w/ message BF

Parameters

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

Definition at line 4431 of file SickLMS2xx.cc.

void SickToolbox::SickLMS2xx::_parseSickScanProfileC4	(	const uint8_t *const	src_buffer,
		sick_lms_2xx_scan_profile_c4_t &	sick_scan_profile
	)		const

protected

Parses a byte sequence into a scan profile corresponding to message C4.

Parses the scan profile returned w/ message C4

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 4467 of file SickLMS2xx.cc.

bool SickToolbox::SickLMS2xx::_returningRealTimeIndices ( ) const

inlineprotected

Tells whether the device is returning real-time indices

Definition at line 867 of file SickLMS2xx.hh.

void SickToolbox::SickLMS2xx::_sendMessageAndGetReply	(	const SickLMS2xxMessage &	send_message,
		SickLMS2xxMessage &	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 LMS 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 LMS 2xx unit
&recv_message	The expected message reply from the Sick LMS
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 2437 of file SickLMS2xx.cc.

void SickToolbox::SickLMS2xx::_sendMessageAndGetReply	(	const SickLMS2xxMessage &	send_message,
		SickLMS2xxMessage &	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 LMS 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 LMS 2xx unit
&recv_message	The expected message reply from the Sick LMS
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 LMS fails to reply

Definition at line 2485 of file SickLMS2xx.cc.

void SickToolbox::SickLMS2xx::_setSessionBaud	(	const sick_lms_2xx_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 LMS.

Parameters

baud_rate The desired baud rate

Definition at line 2530 of file SickLMS2xx.cc.

void SickToolbox::SickLMS2xx::_setSickConfig	(	const sick_lms_2xx_device_config_t &	sick_device_config	)
throw	(	SickConfigException,
		SickTimeoutException,
		SickIOException,
		SickThreadException
	)

protected

Sets the current configuration in flash.

Sets the Sick configuration in flash

Parameters

&sick_device_config The desired Sick LMS configuration

Definition at line 2957 of file SickLMS2xx.cc.

void SickToolbox::SickLMS2xx::_setSickOpModeDiagnostic	(		)
throw	(	SickConfigException,
		SickTimeoutException,
		SickIOException,
		SickThreadException
	)

protected

Sets the device to diagnostic mode.

Switch Sick LMS to diagnostic mode

Definition at line 3561 of file SickLMS2xx.cc.

void SickToolbox::SickLMS2xx::_setSickOpModeInstallation	(		)
throw	(	SickConfigException,
		SickTimeoutException,
		SickIOException,
		SickThreadException
	)

protected

Sets the device to installation mode.

Switch Sick LMS to installation mode

Definition at line 3502 of file SickLMS2xx.cc.

void SickToolbox::SickLMS2xx::_setSickOpModeMonitorRequestValues	(		)
throw	(	SickConfigException,
		SickTimeoutException,
		SickIOException,
		SickThreadException
	)

protected

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

Switch Sick LMS to monitor mode (request range data)

Definition at line 3621 of file SickLMS2xx.cc.

void SickToolbox::SickLMS2xx::_setSickOpModeMonitorStreamMeanValues	(	const uint8_t	sample_size	)
throw	(	SickConfigException,
		SickTimeoutException,
		SickIOException,
		SickThreadException
	)

protected

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

Switch Sick LMS to monitor mode (stream mean measured values)

Definition at line 3865 of file SickLMS2xx.cc.

void SickToolbox::SickLMS2xx::_setSickOpModeMonitorStreamMeanValuesSubrange	(	const uint16_t	sample_size,
		const uint16_t	subrange_start_index,
		const uint16_t	subrange_stop_index
	)
throw	(	SickConfigException,
		SickTimeoutException,
		SickIOException,
		SickThreadException
	)

protected

Sets the device to monitor mode and tells it to send a mean value subrange.

Switch Sick LMS to monitor mode (stream mean measured values subrange)

Parameters

sample_size	The number of scans to consider in computing the mean measured values
subrange_start_index	The starting index of the desired subrange
subrange_stop_index	The stopping index of the desired subrange

Definition at line 4025 of file SickLMS2xx.cc.

void SickToolbox::SickLMS2xx::_setSickOpModeMonitorStreamRangeAndReflectivity	(		)
throw	(	SickConfigException,
		SickTimeoutException,
		SickIOException,
		SickThreadException
	)

protected

Sets the device to monitor mode and tells it to stream both range and reflectivity values.

Switch Sick LMS to monitor mode (stream range and reflectivity)

Definition at line 3737 of file SickLMS2xx.cc.

void SickToolbox::SickLMS2xx::_setSickOpModeMonitorStreamValues	(		)
throw	(	SickConfigException,
		SickTimeoutException,
		SickIOException,
		SickThreadException
	)

protected

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

Switch Sick LMS to monitor mode (stream range)

Definition at line 3677 of file SickLMS2xx.cc.

void SickToolbox::SickLMS2xx::_setSickOpModeMonitorStreamValuesFromPartialScan	(		)
throw	(	SickConfigException,
		SickTimeoutException,
		SickIOException,
		SickThreadException
	)

protected

Sets the device to monitor mode and tells it to start sending partial scans.

Switch Sick LMS to monitor mode (stream range from a partial scan)

Definition at line 3805 of file SickLMS2xx.cc.

void SickToolbox::SickLMS2xx::_setSickOpModeMonitorStreamValuesSubrange	(	const uint16_t	subrange_start_index,
		const uint16_t	subrange_stop_index
	)
throw	(	SickConfigException,
		SickTimeoutException,
		SickIOException,
		SickThreadException
	)

protected

Sets the device to monitor mode and tells it to send a measured value subrange.

Switch Sick LMS to monitor mode (stream mean measured values)

Parameters

subrange_start_index	The starting index of the desired subrange
subrange_stop_index	The stopping index of the desired subrange

Definition at line 3936 of file SickLMS2xx.cc.

void SickToolbox::SickLMS2xx::_setTerminalBaud	(	const sick_lms_2xx_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 2653 of file SickLMS2xx.cc.

void SickToolbox::SickLMS2xx::_setupConnection	(		)
throw	(	SickIOException,
		SickThreadException
	)

protectedvirtual

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

Opens the terminal for serial communication.

Implements SickToolbox::SickLIDAR< SickLMS2xxBufferMonitor, SickLMS2xxMessage >.

Definition at line 2321 of file SickLMS2xx.cc.

void SickToolbox::SickLMS2xx::_setupConnection	(	const uint32_t	delay	)
throw	(	SickIOException,
		SickThreadException
	)

protected

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

Parameters

delay Delay to wait for SICK to power on. (In seconds)

Definition at line 2329 of file SickLMS2xx.cc.

std::string SickToolbox::SickLMS2xx::_sickAvailabilityToString ( const uint8_t availability_flags ) const

protected

Converts given restart level to a corresponding string.

Given a bytecode representing Sick LMS availability, returns a corresponding string

Parameters

availability_flags The availability level of the Sick LMS 2xx

Returns: The corresponding string

Definition at line 5039 of file SickLMS2xx.cc.

std::string SickToolbox::SickLMS2xx::_sickContourFunctionToString ( const uint8_t contour_function_code ) const

protected

Converts Sick LMS contour function code to a corresponding string.

Converts the LMS's contour function status code to a string

Parameters

contour_function_code The subtractive fields code

Returns: The corresponding string

Definition at line 5164 of file SickLMS2xx.cc.

std::string SickToolbox::SickLMS2xx::_sickRestartToString ( const uint8_t restart_code ) const

protected

Converts restart code to a corresponding string.

Given a bytecode representing Sick LMS restart mode, returns a corresponding string

Parameters

restart_code Restart code

Returns: The corresponding string

Definition at line 5085 of file SickLMS2xx.cc.

std::string SickToolbox::SickLMS2xx::_sickSubtractiveFieldsToString ( const uint8_t subt_field_code ) const

protected

Converts Sick LMS subtractive fields code to a corresponding string.

Converts the LMS's subtractive field value to a string

Parameters

subt_field_code The subtractive fields code

Returns: The corresponding string

Definition at line 5146 of file SickLMS2xx.cc.

std::string SickToolbox::SickLMS2xx::_sickTemporaryFieldToString ( const uint8_t temp_field_code ) const

protected

Converts Sick LMS temporary field code to a corresponding string.

Converts the LMS's temporary field value to a string

Parameters

temp_field_code The temporary field code

Returns: The corresponding string

Definition at line 5126 of file SickLMS2xx.cc.

std::string SickToolbox::SickLMS2xx::_sickVariantToString ( const unsigned int sick_variant ) const

protected

Converts the Sick LMS variant to a corresponding string.

Converts the LMS's variant to a corresponding string

Parameters

sick_variant The Sick LMS variant

Returns: The corresponding string

Definition at line 5188 of file SickLMS2xx.cc.

void SickToolbox::SickLMS2xx::_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 LMS 2xx.

Switches the operating mode of the LMS.

Parameters

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

Definition at line 4122 of file SickLMS2xx.cc.

void SickToolbox::SickLMS2xx::_teardownConnection	(		)
throw	(	SickIOException
	)

protectedvirtual

Closes the data connection associated with the device.

Closes the serial communication terminal.

Implements SickToolbox::SickLIDAR< SickLMS2xxBufferMonitor, SickLMS2xxMessage >.

Definition at line 2374 of file SickLMS2xx.cc.

bool SickToolbox::SickLMS2xx::_testSickBaud	(	const sick_lms_2xx_baud_t	baud_rate	)
throw	(	SickIOException,
		SickThreadException
	)

protected

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

Tests communication wit the LMS at a particular baud rate.

Parameters

baud_rate The baud rate to use when "pinging" the Sick LMS 2xx

Definition at line 2590 of file SickLMS2xx.cc.

bool SickToolbox::SickLMS2xx::_validSickMeasuringMode ( const sick_lms_2xx_measuring_mode_t sick_measuring_mode ) const

protected

Indicates whether the given measuring mode is defined.

Indicates whether the given sensitivity is defined

Parameters

sick_measuring_mode The sick measuring mode in question

Definition at line 4991 of file SickLMS2xx.cc.

bool SickToolbox::SickLMS2xx::_validSickMeasuringUnits ( const sick_lms_2xx_measuring_units_t sick_units ) const

protected

Indicates whether the given measuring units are valid/defined.

Indicates whether the given unit value is defined

Parameters

sick_units The units in question

Definition at line 4784 of file SickLMS2xx.cc.

bool SickToolbox::SickLMS2xx::_validSickPeakThreshold ( const sick_lms_2xx_peak_threshold_t sick_peak_threshold ) const

protected

Indicates whether the given peak threshold is valid.

Indicates whether the given peak threshold is defined

Parameters

sick_peak_threshold Peak threshold definition for Sick LMS 2xx

Definition at line 4972 of file SickLMS2xx.cc.

bool SickToolbox::SickLMS2xx::_validSickScanAngle ( const sick_lms_2xx_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 4917 of file SickLMS2xx.cc.

bool SickToolbox::SickLMS2xx::_validSickScanResolution ( const sick_lms_2xx_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 4935 of file SickLMS2xx.cc.

bool SickToolbox::SickLMS2xx::_validSickSensitivity ( const sick_lms_2xx_sensitivity_t sick_sensitivity ) const

protected

Indicates whether the given sensitivity is defined.

Indicates whether the given sensitivity is defined

Parameters

sick_sensitivity The sick sensitivity in question

Definition at line 4953 of file SickLMS2xx.cc.

sick_lms_2xx_scan_resolution_t SickToolbox::SickLMS2xx::DoubleToSickScanResolution ( const double scan_resolution_double )

static

Converts double to corresponding Sick LMS scan resolution.

A utility function for converting doubles to lms_sick_scan_resolution_t

Parameters

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

Definition at line 2100 of file SickLMS2xx.cc.

uint8_t SickToolbox::SickLMS2xx::GetSickAvailability	(		)	const
throw	(	SickConfigException
	)

Gets the current Sick LMS 2xx availability level flags.

Gets the current availability flags for the device

Returns: Sick LMS 2xx Availability level flags

Definition at line 821 of file SickLMS2xx.cc.

std::string SickToolbox::SickLMS2xx::GetSickConfigAsString ( ) const

Acquire the Sick LMS's config as a printable string.

Get Sick config as a string

Returns: The Sick LMS config as a well-formatted string

Definition at line 1936 of file SickLMS2xx.cc.

std::string SickToolbox::SickLMS2xx::GetSickDevicePath ( ) const

Gets the Sick LMS 2xx device path.

Gets the Sick LMS 2xx device path

Returns: The device path as a std::string

Definition at line 295 of file SickLMS2xx.cc.

void SickToolbox::SickLMS2xx::GetSickMeanValues	(	const uint8_t	sick_sample_size,
		unsigned int *const	measurement_values,
		unsigned int &	num_measurement_values,
		unsigned int *const	sick_telegram_index = `NULL`,
		unsigned int *const	sick_real_time_scan_index = `NULL`
	)
throw	(	SickConfigException,
		SickTimeoutException,
		SickIOException,
		SickThreadException
	)

Returns the most recent mean measured values from the Sick LMS 2xx.

Gets mean measured values from the Sick LMS

Parameters

sick_sample_size	Number of scans to consider in computing the mean measured values (NOTE: 2 <= sick_sample_size <= 250)
*measurement_values	Destination buffer for holding the current round of measured value
&num_measurement_values	Number of values stored in measurement_values
*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 LMS 2xx for this value to be populated.

Definition at line 1519 of file SickLMS2xx.cc.

void SickToolbox::SickLMS2xx::GetSickMeanValuesSubrange	(	const uint8_t	sick_sample_size,
		const uint16_t	sick_subrange_start_index,
		const uint16_t	sick_subrange_stop_index,
		unsigned int *const	measurement_values,
		unsigned int &	num_measurement_values,
		unsigned int *const	sick_telegram_index = `NULL`,
		unsigned int *const	sick_real_time_scan_index = `NULL`
	)
throw	(	SickConfigException,
		SickTimeoutException,
		SickIOException,
		SickThreadException
	)

Returns the most recent mean measured values from the specified subrange.

Gets mean measured values from the Sick LMS

Parameters

sick_sample_size	Number of consecutive scans used to compute the mean values
sick_subrange_start_index	The starting index of the desired subrange (See below for example)
sick_subrange_stop_index	The stopping index of the desired subrange (See below for example)
*measurement_values	Destination buffer for holding the current round of measured value
&num_measurement_values	Number of values stored in measurement_values
*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 LMS 2xx for this value to be populated.

EXAMPLE: Using a 180/0.5 Sick LMS variant, a subrange over the scan area [0,10.5] would correspond to setting the index arguments as follows: sick_subrange_start = 1, sick_subrange_stop = 22

Definition at line 1633 of file SickLMS2xx.cc.

sick_lms_2xx_measuring_mode_t SickToolbox::SickLMS2xx::GetSickMeasuringMode	(		)	const
throw	(	SickConfigException
	)

Gets the current Sick LMS 2xx measuring mode.

Get the current Sick LMS 2xx measuring mode

Returns: Measuring mode (sick_lms_2xx_measuring_mode_t)

Definition at line 713 of file SickLMS2xx.cc.

sick_lms_2xx_measuring_units_t SickToolbox::SickLMS2xx::GetSickMeasuringUnits	(		)	const
throw	(	SickConfigException
	)

Gets the current Sick LMS 2xx measuring units.

Get the current measurement units of the device

Returns: Measuring units (sick_lms_2xx_measuring_units_t)

Definition at line 424 of file SickLMS2xx.cc.

sick_lms_2xx_operating_mode_t SickToolbox::SickLMS2xx::GetSickOperatingMode	(		)	const
throw	(	SickConfigException
	)

Gets the current Sick LMS 2xx operating mode.

Get the current Sick LMS 2xx operating mode

Returns: Operating mode (sick_lms_2xx_operating_mode_t)

Definition at line 729 of file SickLMS2xx.cc.

void SickToolbox::SickLMS2xx::GetSickPartialScan	(	unsigned int *const	measurement_values,
		unsigned int &	num_measurement_values,
		unsigned int &	partial_scan_index,
		unsigned int *const	sick_field_a_values = `NULL`,
		unsigned int *const	sick_field_b_values = `NULL`,
		unsigned int *const	sick_field_c_values = `NULL`,
		unsigned int *const	sick_telegram_index = `NULL`,
		unsigned int *const	sick_real_time_scan_index = `NULL`
	)
throw	(	SickConfigException,
		SickTimeoutException,
		SickIOException,
		SickThreadException
	)

Returns the most recent partial scan obtained by Sick LMS 2xx.

Gets partial scan measurements from the Sick LMS 2xx. NOTE: Data can be either range or reflectivity depending upon the given Sick mode.

Parameters

*measurement_values	Destination buffer for holding the current round of measured value
&num_measurement_values	Number of values stored in measurement_values
*sick_partial_scan_index	Partial scan index associated w/ returned values (0 = 0.00 deg, 1 = 0.25 deg, 2 = 0.50 deg, 3 = 0.75 deg)
*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: This function will set the device to interlaced mode.

NOTE: The current angular resolution defines the minimum step size in the partial scan sequence. To obtain a high resolution partial scan you must set the Sick LMS 2xx variant to use a 0.25 degrees scan resolution.

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 LMS 2xx for this value to be populated.

Definition at line 1388 of file SickLMS2xx.cc.

sick_lms_2xx_peak_threshold_t SickToolbox::SickLMS2xx::GetSickPeakThreshold	(		)	const
throw	(	SickConfigException
	)

Gets the current Sick LMS 2xx sensitivity level.

Get the current Sick LMS 2xx sensitivity level. NOTE: Only applies to LMS 211/221/291 models.

Returns: Sensitivity level (sick_lms_2xx_sensitivity_t)

Definition at line 618 of file SickLMS2xx.cc.

void SickToolbox::SickLMS2xx::GetSickScan	(	unsigned int *const	measurement_values,
		unsigned int &	num_measurement_values,
		unsigned int *const	sick_field_a_values = `NULL`,
		unsigned int *const	sick_field_b_values = `NULL`,
		unsigned int *const	sick_field_c_values = `NULL`,
		unsigned int *const	sick_telegram_index = `NULL`,
		unsigned int *const	sick_real_time_scan_index = `NULL`
	)
throw	(	SickConfigException,
		SickTimeoutException,
		SickIOException,
		SickThreadException
	)

Returns the most recent measured values obtained by the Sick LMS 2xx.

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 LMS 2xx for this value to be populated.

Definition at line 977 of file SickLMS2xx.cc.

void SickToolbox::SickLMS2xx::GetSickScan	(	unsigned int *const	range_values,
		unsigned int *const	reflect_values,
		unsigned int &	num_range_measurements,
		unsigned int &	num_reflect_measurements,
		unsigned int *const	sick_field_a_values = `NULL`,
		unsigned int *const	sick_field_b_values = `NULL`,
		unsigned int *const	sick_field_c_values = `NULL`,
		unsigned int *const	sick_telegram_index = `NULL`,
		unsigned int *const	sick_real_time_scan_index = `NULL`
	)
throw	(	SickConfigException,
		SickTimeoutException,
		SickIOException,
		SickThreadException
	)

Acquires both range and reflectivity values from the Sick LMS 211/221/291-S14 (LMS-FAST)

Gets range and reflectivity data from the Sick. NOTE: This only applies to Sick LMS 211/221/291-S14!

Parameters

*range_values	The buffer in which range measurements will be stored
*reflect_values	The buffer in which reflectivity measurements will be stored
reflect_subrange_start_index	The starting index of the desired measured reflectivity subrange
relfect_subrange_stop_index	The stopping index of the desired measured relfectivity subrange
&num_range_measurements	The number of range measurements stored in range_values
&num_reflectivity_measurements	The number of reflectivity measurements stored in reflect_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: Real-time scan indices must be enabled by setting the corresponding availability of the Sick LMS 2xx for this value to be populated.

Definition at line 1107 of file SickLMS2xx.cc.

double SickToolbox::SickLMS2xx::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_lms_2xx_scan_angle_t)

Definition at line 319 of file SickLMS2xx.cc.

double SickToolbox::SickLMS2xx::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 LMS 2xx (sick_lms_2xx_scan_resolution_t)

Definition at line 335 of file SickLMS2xx.cc.

void SickToolbox::SickLMS2xx::GetSickScanSubrange	(	const uint16_t	sick_subrange_start_index,
		const uint16_t	sick_subrange_stop_index,
		unsigned int *const	measurement_values,
		unsigned int &	num_measurement_values,
		unsigned int *const	sick_field_a_values = `NULL`,
		unsigned int *const	sick_field_b_values = `NULL`,
		unsigned int *const	sick_field_c_values = `NULL`,
		unsigned int *const	sick_telegram_index = `NULL`,
		unsigned int *const	sick_real_time_scan_index = `NULL`
	)
throw	(	SickConfigException,
		SickTimeoutException,
		SickIOException,
		SickThreadException
	)

Returns the most recent measured values from the corresponding subrange.

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

Parameters

sick_subrange_start_index	The starting index of the desired subrange (See below for example)
sick_subrange_stop_index	The stopping index of the desired subrange (See below for example)
*measurement_values	Destination buffer for holding the current round of measured value
&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)
<em>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 LMS 2xx for this value to be populated.

EXAMPLE: Using a 180/0.5 Sick LMS variant, a subrange over the scan area [0,10.5] would correspond to setting the index arguments as follows: sick_subrange_start = 1, sick_subrange_stop = 22

Definition at line 1250 of file SickLMS2xx.cc.

sick_lms_2xx_sensitivity_t SickToolbox::SickLMS2xx::GetSickSensitivity	(		)	const
throw	(	SickConfigException
	)

Gets the current Sick LMS 2xx sensitivity level.

Get the current Sick LMS 2xx sensitivity level. NOTE: Only applies to LMS 211/221/291 models.

Returns: Sensitivity level (sick_lms_2xx_sensitivity_t)

Definition at line 596 of file SickLMS2xx.cc.

std::string SickToolbox::SickLMS2xx::GetSickSoftwareVersionAsString ( ) const

Acquire the Sick LMS's operating params as a printable string.

Get Sick software info as a string

Returns: The Sick LMS operating params as a well-formatted string

Definition at line 1909 of file SickLMS2xx.cc.

sick_lms_2xx_status_t SickToolbox::SickLMS2xx::GetSickStatus	(		)
throw	(	SickConfigException,
		SickTimeoutException,
		SickIOException,
		SickThreadException
	)

Acquire the Sick LMS 2xx status.

Acquire the Sick LMS status

Returns: The status of the device

NOTE: This method also updated the local view of all other information returned with a status request.

Definition at line 1738 of file SickLMS2xx.cc.

std::string SickToolbox::SickLMS2xx::GetSickStatusAsString ( ) const

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

Get Sick status as a string

Returns: The Sick LMS status as a well-formatted string

Definition at line 1876 of file SickLMS2xx.cc.

sick_lms_2xx_type_t SickToolbox::SickLMS2xx::GetSickType	(		)	const
throw	(	SickConfigException
	)

Gets the Sick LMS 2xx type.

Gets the Sick LMS 2xx device type

Returns: The device type

Definition at line 303 of file SickLMS2xx.cc.

void SickToolbox::SickLMS2xx::Initialize	(	const sick_lms_2xx_baud_t	desired_baud_rate,
		const uint32_t	delay = `0`
	)
throw	(	SickConfigException,
		SickTimeoutException,
		SickIOException,
		SickThreadException
	)

Attempts to initialize the Sick LMS 2xx and then sets communication at at the given baud rate.

Initializes the Sick

Parameters

desired_baud_rate	Desired session baud rate
delay	Delay to wait for SICK to power on (in seconds)

Definition at line 98 of file SickLMS2xx.cc.

sick_lms_2xx_baud_t SickToolbox::SickLMS2xx::IntToSickBaud ( const int baud_int )

static

Converts integer to corresponding Sick LMS baud.

A utility function for converting integers to lms_baud_t

Parameters

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

Definition at line 2130 of file SickLMS2xx.cc.

sick_lms_2xx_scan_angle_t SickToolbox::SickLMS2xx::IntToSickScanAngle ( const int scan_angle_int )

static

Converts integer to corresponding Sick LMS scan angle.

A utility function for converting integers to lms_sick_scan_angle_t

Parameters

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

Definition at line 2062 of file SickLMS2xx.cc.

sick_lms_2xx_scan_resolution_t SickToolbox::SickLMS2xx::IntToSickScanResolution ( const int scan_resolution_int )

static

Converts integer to corresponding Sick LMS scan resolution.

A utility function for converting ints to lms_sick_scan_resolution_t

Parameters

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

Definition at line 2081 of file SickLMS2xx.cc.

bool SickToolbox::SickLMS2xx::IsSickLMS2xxFast	(		)	const
throw	(	SickConfigException
	)

Indicates whether the device is an LMS Fast.

Indicates whether the Sick is an LMS Fast

Definition at line 1783 of file SickLMS2xx.cc.

void SickToolbox::SickLMS2xx::PrintSickConfig ( ) const

Prints out the Sick LMS configurations parameters.

Print the Sick LMS configuration

Definition at line 2000 of file SickLMS2xx.cc.

void SickToolbox::SickLMS2xx::PrintSickSoftwareVersion ( ) const

Prints out relevant software versioning information.

Print the Sick LMS software versions

Definition at line 1993 of file SickLMS2xx.cc.

void SickToolbox::SickLMS2xx::PrintSickStatus ( ) const

Prints ths status of the Sick LMS 2xx unit.

Print the Sick LMS status

Definition at line 1986 of file SickLMS2xx.cc.

void SickToolbox::SickLMS2xx::ResetSick	(		)
throw	(	SickConfigException,
		SickTimeoutException,
		SickIOException,
		SickThreadException
	)

Reset the Sick LMS 2xx active field values NOTE: Considered successful if the LMS ready message is received.

Resets Sick LMS field values

Definition at line 1800 of file SickLMS2xx.cc.

void SickToolbox::SickLMS2xx::SetSickAvailability	(	const uint8_t	sick_availability_flags = `SICK_FLAG_AVAILABILITY_DEFAULT`	)
throw	(	SickConfigException,
		SickTimeoutException,
		SickIOException,
		SickThreadException
	)

Sets the availability level of the device.

Sets the availability of the device (in EEPROM). See page 98 of the telegram listing for more details.

Parameters

sick_availability_level Desired availability of the Sick LMS

Definition at line 745 of file SickLMS2xx.cc.

void SickToolbox::SickLMS2xx::SetSickMeasuringMode	(	const sick_lms_2xx_measuring_mode_t	sick_measuring_mode = `SICK_MS_MODE_8_OR_80_FA_FB_DAZZLE`	)
throw	(	SickConfigException,
		SickTimeoutException,
		SickIOException,
		SickThreadException
	)

Sets the measuring mode for the device.

Sets the measuring mode for the device (in EEPROM). See page 98 of the telegram listing for more details.

Parameters

sick_measuring_mode Desired measuring mode

Definition at line 640 of file SickLMS2xx.cc.

void SickToolbox::SickLMS2xx::SetSickMeasuringUnits	(	const sick_lms_2xx_measuring_units_t	sick_units = `SICK_MEASURING_UNITS_MM`	)
throw	(	SickConfigException,
		SickTimeoutException,
		SickIOException,
		SickThreadException
	)

Sets the measurement units for the device.

Set the measurement units of the device (in EEPROM)

Parameters

sick_units Desired measurement units for the device

Definition at line 351 of file SickLMS2xx.cc.

void SickToolbox::SickLMS2xx::SetSickPeakThreshold	(	const sick_lms_2xx_peak_threshold_t	sick_peak_threshold = `SICK_PEAK_THRESHOLD_DETECTION_WITH_NO_BLACK_EXTENSION`	)
throw	(	SickConfigException,
		SickTimeoutException,
		SickIOException,
		SickThreadException
	)

Sets the Sick LMS sensitivity level.

Sets the peak threshold mode for the device (in EEPROM). NOTE: Only applies to LMS 200/220 models

Parameters

sick_sensitivity Desired sensitivity level

Definition at line 518 of file SickLMS2xx.cc.

void SickToolbox::SickLMS2xx::SetSickSensitivity	(	const sick_lms_2xx_sensitivity_t	sick_sensitivity = `SICK_SENSITIVITY_STANDARD`	)
throw	(	SickConfigException,
		SickTimeoutException,
		SickIOException,
		SickThreadException
	)

Sets the Sick LMS sensitivity level.

Sets the sensitivity value for the device (in EEPROM). NOTE: Only applies to LMS 211/221/291 models.

Parameters

sick_sensitivity Desired sensitivity level

Definition at line 440 of file SickLMS2xx.cc.

void SickToolbox::SickLMS2xx::SetSickVariant	(	const sick_lms_2xx_scan_angle_t	scan_angle,
		const sick_lms_2xx_scan_resolution_t	scan_resolution
	)
throw	(	SickConfigException,
		SickTimeoutException,
		SickIOException,
		SickThreadException
	)

Sets the variant of the Sick LMS 2xx (scan angle and scan resolution)

Sets the variant type for the device (in EEPROM)

Parameters

scan_angle	The desired scan angle of the Sick LMS 2xx
scan_resolution	The desired angular resolution of the Sick LMS 2xx

Definition at line 838 of file SickLMS2xx.cc.

std::string SickToolbox::SickLMS2xx::SickBaudToString ( const sick_lms_2xx_baud_t baud_rate )

static

Converts Sick LMS 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 2109 of file SickLMS2xx.cc.

std::string SickToolbox::SickLMS2xx::SickMeasuringModeToString ( const sick_lms_2xx_measuring_mode_t sick_measuring_mode )

static

Converts the Sick measuring mode to a corresponding string.

Converts the LMS's measuring mode to a corresponding string

Parameters

sick_measuring_mode The Sick measuring mode

Returns: The corresponding string

Definition at line 2181 of file SickLMS2xx.cc.

std::string SickToolbox::SickLMS2xx::SickMeasuringUnitsToString ( const sick_lms_2xx_measuring_units_t sick_units )

static

Converts the Sick LMS measurement units to a corresponding string.

Converts the LMS's measuring units to a corresponding string

Parameters

sick_units The measuring units

Returns: The corresponding string

Definition at line 2304 of file SickLMS2xx.cc.

std::string SickToolbox::SickLMS2xx::SickOperatingModeToString ( const sick_lms_2xx_operating_mode_t sick_operating_mode )

static

Converts the Sick operating mode to a corresponding string.

Converts the LMS's measuring mode to a corresponding string

Parameters

sick_operating_mode The Sick operating mode

Returns: The corresponding string

Definition at line 2212 of file SickLMS2xx.cc.

std::string SickToolbox::SickLMS2xx::SickPeakThresholdToString ( const sick_lms_2xx_peak_threshold_t sick_peak_threshold )

static

Converts Sick LMS 2xx peak threshold to a corresponding string.

Converts the LMS's peak threshold to string

Parameters

sick_peak_threshold Sick sensitivity level

Returns: The corresponding string

Definition at line 2282 of file SickLMS2xx.cc.

std::string SickToolbox::SickLMS2xx::SickSensitivityToString ( const sick_lms_2xx_sensitivity_t sick_sensitivity )

static

Converts Sick LMS 2xx sensitivity level to a corresponding string.

Converts the LMS's sensitivity to string

Parameters

sick_sensitivity Sick sensitivity level

Returns: The corresponding string

Definition at line 2260 of file SickLMS2xx.cc.

std::string SickToolbox::SickLMS2xx::SickStatusToString ( const sick_lms_2xx_status_t sick_status )

static

Converts the Sick LMS 2xx status code to a string.

Converts the LMS's status to a corresponding string

Parameters

sick_status The device status

Returns: A string corresponding to the given status code

Definition at line 2166 of file SickLMS2xx.cc.

std::string SickToolbox::SickLMS2xx::SickTypeToString ( const sick_lms_2xx_type_t sick_type )

static

Converts the Sick LMS type to a corresponding string.

Converts the LMS's type to a corresponding string

Parameters

sick_type The device type

Returns: Sick LMS type as a string

Definition at line 2009 of file SickLMS2xx.cc.

sick_lms_2xx_baud_t SickToolbox::SickLMS2xx::StringToSickBaud ( const std::string baud_str )

static

Converts string to corresponding Sick LMS baud.

A utility function for converting baud strings to lms_baud_t

Parameters

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

Definition at line 2151 of file SickLMS2xx.cc.

void SickToolbox::SickLMS2xx::Uninitialize	(		)
throw	(	SickConfigException,
		SickTimeoutException,
		SickIOException,
		SickThreadException
	)

Uninitializes the LMS 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 229 of file SickLMS2xx.cc.

Member Data Documentation

sick_lms_2xx_baud_t SickToolbox::SickLMS2xx::_curr_session_baud

protected

The baud rate at which to communicate with the Sick

Definition at line 711 of file SickLMS2xx.hh.

sick_lms_2xx_baud_t SickToolbox::SickLMS2xx::_desired_session_baud

protected

The desired baud rate for communicating w/ the Sick

Definition at line 714 of file SickLMS2xx.hh.

struct termios SickToolbox::SickLMS2xx::_old_term

protected

Stores information about the original terminal settings

Definition at line 753 of file SickLMS2xx.hh.

sick_lms_2xx_baud_status_t SickToolbox::SickLMS2xx::_sick_baud_status

protected

The baud configuration of the device

Definition at line 738 of file SickLMS2xx.hh.

sick_lms_2xx_device_config_t SickToolbox::SickLMS2xx::_sick_device_config

protected

The device configuration for the Sick

Definition at line 741 of file SickLMS2xx.hh.

std::string SickToolbox::SickLMS2xx::_sick_device_path

protected

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

Definition at line 708 of file SickLMS2xx.hh.

sick_lms_2xx_field_status_t SickToolbox::SickLMS2xx::_sick_field_status

protected

The field configuration for the device

Definition at line 735 of file SickLMS2xx.hh.

uint8_t SickToolbox::SickLMS2xx::_sick_mean_value_sample_size

protected

Used when the device is streaming mean values

Definition at line 744 of file SickLMS2xx.hh.

sick_lms_2xx_operating_status_t SickToolbox::SickLMS2xx::_sick_operating_status

protected

The operating parameters of the device

Definition at line 720 of file SickLMS2xx.hh.

sick_lms_2xx_pollution_status_t SickToolbox::SickLMS2xx::_sick_pollution_status

protected

The pollution measurement status

Definition at line 729 of file SickLMS2xx.hh.

sick_lms_2xx_restart_status_t SickToolbox::SickLMS2xx::_sick_restart_status

protected

The restart configuration of the device

Definition at line 726 of file SickLMS2xx.hh.

sick_lms_2xx_signal_status_t SickToolbox::SickLMS2xx::_sick_signal_status

protected

The signal status of the device

Definition at line 732 of file SickLMS2xx.hh.

sick_lms_2xx_software_status_t SickToolbox::SickLMS2xx::_sick_software_status

protected

The current software version being run on the device

Definition at line 723 of file SickLMS2xx.hh.

sick_lms_2xx_type_t SickToolbox::SickLMS2xx::_sick_type

protected

A string representing the type of device

Definition at line 717 of file SickLMS2xx.hh.

uint16_t SickToolbox::SickLMS2xx::_sick_values_subrange_start_index

protected

Used when the device is streaming a scan subrange

Definition at line 747 of file SickLMS2xx.hh.

uint16_t SickToolbox::SickLMS2xx::_sick_values_subrange_stop_index

protected

Used when the device is streaming a scan subrange

Definition at line 750 of file SickLMS2xx.hh.

const uint8_t SickToolbox::SickLMS2xx::SICK_FLAG_AVAILABILITY_DAZZLE_NO_EFFECT = 0x04

static

Dazzle evalutation has no effect on switching outputs.

Definition at line 235 of file SickLMS2xx.hh.

const uint8_t SickToolbox::SickLMS2xx::SICK_FLAG_AVAILABILITY_DEFAULT = 0x00

static

Availability unspecified.

Define Sick LMS 2xx availability levels

Definition at line 232 of file SickLMS2xx.hh.

const uint8_t SickToolbox::SickLMS2xx::SICK_FLAG_AVAILABILITY_HIGH = 0x01

static

Highest availability (comparable to LMS types 1 to 5)

Definition at line 233 of file SickLMS2xx.hh.

const uint8_t SickToolbox::SickLMS2xx::SICK_FLAG_AVAILABILITY_REAL_TIME_INDICES = 0x02

static

Send real-time indices.

Definition at line 234 of file SickLMS2xx.hh.

const uint16_t SickToolbox::SickLMS2xx::SICK_MAX_NUM_MEASUREMENTS = 721

static

Maximum number of measurements returned by the Sick LMS.

Define the maximum number of measurements

Definition at line 56 of file SickLMS2xx.hh.

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

Classes

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation