hlds_laser_publisher.cpp

Go to the documentation of this file.

/*******************************************************************************
* Copyright (c) 2016, Hitachi-LG Data Storage
* Copyright (c) 2017, ROBOTIS
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright notice, this
*   list of conditions and the following disclaimer.
*
* * Redistributions in binary form must reproduce the above copyright notice,
*   this list of conditions and the following disclaimer in the documentation
*   and/or other materials provided with the distribution.
*
* * Neither the name of the copyright holder nor the names of its
*   contributors may be used to endorse or promote products derived from
*   this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*******************************************************************************/
 
 /* Authors: SP Kong, JH Yang */
 /* maintainer: Pyo */
 
#include <ros/ros.h>
#include <std_msgs/UInt16.h>
#include <sensor_msgs/LaserScan.h>
#include <boost/asio.hpp>
#include <hls_lfcd_lds_driver/lfcd_laser.h>
 
namespace hls_lfcd_lds
{
LFCDLaser::LFCDLaser(const std::string& port, uint32_t baud_rate, boost::asio::io_service& io)
  : port_(port), baud_rate_(baud_rate), shutting_down_(false), serial_(io, port_)
{
  serial_.set_option(boost::asio::serial_port_base::baud_rate(baud_rate_));
 
  // Below command is not required after firmware upgrade (2017.10)
  boost::asio::write(serial_, boost::asio::buffer("b", 1));  // start motor
}
 
LFCDLaser::~LFCDLaser()
{
  boost::asio::write(serial_, boost::asio::buffer("e", 1));  // stop motor
}
 
void LFCDLaser::poll(sensor_msgs::LaserScan::Ptr scan)
{
  uint8_t temp_char;
  uint8_t start_count = 0;
  bool got_scan = false;
  boost::array<uint8_t, 2520> raw_bytes;
  uint8_t good_sets = 0;
  uint32_t motor_speed = 0;
  rpms=0;
  int index;
 
  while (!shutting_down_ && !got_scan)
  {
    // Wait until first data sync of frame: 0xFA, 0xA0
    boost::asio::read(serial_, boost::asio::buffer(&raw_bytes[start_count],1));
 
    if(start_count == 0)
    {
      if(raw_bytes[start_count] == 0xFA)
      {
        start_count = 1;
      }
    }
    else if(start_count == 1)
    {
      if(raw_bytes[start_count] == 0xA0)
      {
        start_count = 0;
 
        // Now that entire start sequence has been found, read in the rest of the message
        got_scan = true;
 
        boost::asio::read(serial_,boost::asio::buffer(&raw_bytes[2], 2518));
 
        scan->angle_increment = (2.0*M_PI/360.0);
        scan->angle_min = 0.0;
        scan->angle_max = 2.0*M_PI-scan->angle_increment;
        scan->range_min = 0.12;
        scan->range_max = 3.5;
        scan->ranges.resize(360);
        scan->intensities.resize(360);
 
        //read data in sets of 6
        for(uint16_t i = 0; i < raw_bytes.size(); i=i+42)
        {
          if(raw_bytes[i] == 0xFA && raw_bytes[i+1] == (0xA0 + i / 42)) //&& CRC check
          {
            good_sets++;
            motor_speed += (raw_bytes[i+3] << 8) + raw_bytes[i+2]; //accumulate count for avg. time increment
 
            for(uint16_t j = i+4; j < i+40; j=j+6)
            {
              index = 6*(i/42) + (j-4-i)/6;
 
              // Four bytes per reading
              uint8_t byte0 = raw_bytes[j];
              uint8_t byte1 = raw_bytes[j+1];
              uint8_t byte2 = raw_bytes[j+2];
              uint8_t byte3 = raw_bytes[j+3];
 
              // Remaining bits are the range in mm
              uint16_t intensity = (byte1 << 8) + byte0;
 
              // Last two bytes represent the uncertanty or intensity, might also be pixel area of target...
              // uint16_t intensity = (byte3 << 8) + byte2;
              uint16_t range = (byte3 << 8) + byte2;
 
              scan->ranges[359-index] = range / 1000.0;
              scan->intensities[359-index] = intensity;
            }
          }
        }
        rpms=motor_speed / good_sets / 10;
        scan->time_increment = (float)(1.0 / (rpms*6));
        scan->scan_time = scan->time_increment * 360;
      }
      else
      {
        start_count = 0;
      }
    }
  }
}
}
 
int main(int argc, char **argv)
{
  ros::init(argc, argv, "hlds_laser_publisher");
  ros::NodeHandle n;
  ros::NodeHandle priv_nh("~");
 
  std::string port;
  int baud_rate;
  std::string frame_id;
 
  std_msgs::UInt16 rpms;
 
  priv_nh.param("port", port, std::string("/dev/ttyUSB0"));
  priv_nh.param("baud_rate", baud_rate, 230400);
  priv_nh.param("frame_id", frame_id, std::string("laser"));
 
  boost::asio::io_service io;
 
  try
  {
    hls_lfcd_lds::LFCDLaser laser(port, baud_rate, io);
    ros::Publisher laser_pub = n.advertise<sensor_msgs::LaserScan>("scan", 1000);
    ros::Publisher motor_pub = n.advertise<std_msgs::UInt16>("rpms",1000);
 
    while (ros::ok())
    {
      sensor_msgs::LaserScan::Ptr scan(new sensor_msgs::LaserScan);
      scan->header.frame_id = frame_id;
      laser.poll(scan);
      scan->header.stamp = ros::Time::now();
      rpms.data=laser.rpms;
      laser_pub.publish(scan);
      motor_pub.publish(rpms);
    }
    laser.close();
 
    return 0;
  }
  catch (boost::system::system_error ex)
  {
    ROS_ERROR("An exception was thrown: %s", ex.what());
    return -1;
  }
}