#include <ScannerSickS300.h>
Classes | |
| struct | ParamType |
| struct | ScanPolarType |
Public Types | |
| enum | { SCANNER_S300_READ_BUF_SIZE = 10000, READ_BUF_SIZE = 10000, WRITE_BUF_SIZE = 10000 } |
Public Member Functions | |
| bool | getScan (std::vector< double > &vdDistanceM, std::vector< double > &vdAngleRAD, std::vector< double > &vdIntensityAU, unsigned int &iTimestamp, unsigned int &iTimeNow) |
| bool | open (const char *pcPort, int iBaudRate, int iScanId) |
| void | purgeScanBuf () |
| void | resetStartup () |
| ScannerSickS300 () | |
| void | startScanner () |
| void | stopScanner () |
| ~ScannerSickS300 () | |
Private Member Functions | |
| void | convertScanToPolar (std::vector< int > viScanRaw, std::vector< ScanPolarType > &vecScanPolar) |
Private Attributes | |
| int | m_actualBufferSize |
| double | m_dBaudMult |
| int | m_iPosReadBuf2 |
| ParamType | m_Param |
| unsigned char | m_ReadBuf [READ_BUF_SIZE+10] |
| unsigned char | m_ReadBuf2 [READ_BUF_SIZE+10] |
| SerialIO | m_SerialIO |
| unsigned int | m_uiSumReadBytes |
| std::vector< int > | m_viScanRaw |
Static Private Attributes | |
| static const double | c_dPi = 3.14159265358979323846 |
| static unsigned char | m_iScanId = 7 |
Driver class for the laser scanner SICK S300 Professional. This driver only supports use with 500KBaud in cont. mode
S300 header format in continuous mode:
| 00 00 00 00 | 4 byte reply header
Now starts the actual telegram
| 00 00 | data block number (fixed) | xx xx | size of data telegram (should be dec 1104) | FF xx | last byte decides scanner id, 07 in most cases, but 08 for slave configured scanners | xx xx | protocol version | 0x 00 | status: 00 00 = normal, 01 00 = lockout | xx xx xx xx | scan number | xx xx | telegram number | BB BB | fixed | 11 11 | fixed ... data | xx xx | CRC
Readout of buffer starts with Reply-Header Reply-Header:byte 0 to 3 = 4 bytes Telegram (as it is stored in the Buffer): Position in the telegram Header: bytes 4 to 23 = 20 bytes bytes 0 to 19 Data: bytes 24 to 1105 = 1082 bytes bytes 20 to 1101 CRC: bytes 1106, 1107 = 2 bytes bytes 1102, 1103
for easier parsing Reply-Header and Telegram-Header are combined in the folllowing --> Headerlength = 24 bytes (iHeaderLength) --> Total length in buffer is 1108 bytes --> Telegram length (read from telegram) is 1104 bytes (iDataLength)
Definition at line 102 of file ScannerSickS300.h.
| anonymous enum |
Definition at line 125 of file ScannerSickS300.h.
Definition at line 314 of file ScannerSickS300.cpp.
Definition at line 337 of file ScannerSickS300.cpp.
| void ScannerSickS300::convertScanToPolar | ( | std::vector< int > | viScanRaw, |
| std::vector< ScanPolarType > & | vecScanPolar | ||
| ) | [private] |
Definition at line 463 of file ScannerSickS300.cpp.
| bool ScannerSickS300::getScan | ( | std::vector< double > & | vdDistanceM, |
| std::vector< double > & | vdAngleRAD, | ||
| std::vector< double > & | vdIntensityAU, | ||
| unsigned int & | iTimestamp, | ||
| unsigned int & | iTimeNow | ||
| ) |
Definition at line 402 of file ScannerSickS300.cpp.
| bool ScannerSickS300::open | ( | const char * | pcPort, |
| int | iBaudRate, | ||
| int | iScanId = 7 |
||
| ) |
Opens serial port.
| pcPort | used "COMx" or "/dev/tty1" |
| iBaudRate | baud rate |
| iScanId | the scanner id in the data header (7 by default) |
Definition at line 344 of file ScannerSickS300.cpp.
| void ScannerSickS300::purgeScanBuf | ( | ) |
Definition at line 376 of file ScannerSickS300.cpp.
| void ScannerSickS300::resetStartup | ( | ) |
Definition at line 384 of file ScannerSickS300.cpp.
| void ScannerSickS300::startScanner | ( | ) |
Definition at line 390 of file ScannerSickS300.cpp.
| void ScannerSickS300::stopScanner | ( | ) |
Definition at line 396 of file ScannerSickS300.cpp.
const double ScannerSickS300::c_dPi = 3.14159265358979323846 [static, private] |
Definition at line 170 of file ScannerSickS300.h.
int ScannerSickS300::m_actualBufferSize [private] |
Definition at line 183 of file ScannerSickS300.h.
double ScannerSickS300::m_dBaudMult [private] |
Definition at line 174 of file ScannerSickS300.h.
int ScannerSickS300::m_iPosReadBuf2 [private] |
Definition at line 181 of file ScannerSickS300.h.
unsigned char ScannerSickS300::m_iScanId = 7 [static, private] |
Definition at line 182 of file ScannerSickS300.h.
ParamType ScannerSickS300::m_Param [private] |
Definition at line 173 of file ScannerSickS300.h.
unsigned char ScannerSickS300::m_ReadBuf[READ_BUF_SIZE+10] [private] |
Definition at line 177 of file ScannerSickS300.h.
unsigned char ScannerSickS300::m_ReadBuf2[READ_BUF_SIZE+10] [private] |
Definition at line 178 of file ScannerSickS300.h.
SerialIO ScannerSickS300::m_SerialIO [private] |
Definition at line 186 of file ScannerSickS300.h.
unsigned int ScannerSickS300::m_uiSumReadBytes [private] |
Definition at line 179 of file ScannerSickS300.h.
std::vector<int> ScannerSickS300::m_viScanRaw [private] |
Definition at line 180 of file ScannerSickS300.h.