ScannerSickS300 Class Reference

#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, const bool debug)
bool	isInStandby ()
bool	open (const char *pcPort, int iBaudRate, int iScanId)
void	purgeScanBuf ()
void	resetStartup ()
	ScannerSickS300 ()
void	setRangeField (const int field, const ParamType &param)
void	startScanner ()
void	stopScanner ()
	~ScannerSickS300 ()

Private Types
typedef std::map< int, ParamType >	PARAM_MAP

Private Member Functions
void	convertScanToPolar (const PARAM_MAP::const_iterator param, std::vector< int > viScanRaw, std::vector< ScanPolarType > &vecScanPolar)

Private Attributes
int	m_actualBufferSize
bool	m_bInStandby
double	m_dBaudMult
int	m_iPosReadBuf2
PARAM_MAP	m_Params
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
TelegramParser	tp_

Static Private Attributes
static const double	c_dPi = 3.14159265358979323846
static unsigned char	m_iScanId = 7

Detailed Description

Driver class for the laser scanner SICK S300 Professional. This driver only supports use with 500KBaud in cont. mode

if the scanner is in standby, the measurements are 0x4004 according to the Sick Support

Definition at line 40 of file ScannerSickS300.h.

Member Typedef Documentation

typedef std::map<int, ParamType> ScannerSickS300::PARAM_MAP

private

Definition at line 107 of file ScannerSickS300.h.

Member Enumeration Documentation

anonymous enum

Enumerator
SCANNER_S300_READ_BUF_SIZE
READ_BUF_SIZE
WRITE_BUF_SIZE

Definition at line 61 of file ScannerSickS300.h.

Constructor & Destructor Documentation

ScannerSickS300::ScannerSickS300

(

)

Definition at line 80 of file ScannerSickS300.cpp.

ScannerSickS300::~ScannerSickS300

(

)

Definition at line 96 of file ScannerSickS300.cpp.

Member Function Documentation

void ScannerSickS300::convertScanToPolar ( const PARAM_MAP::const_iterator  param, std::vector< int >  viScanRaw, std::vector< ScanPolarType > &  vecScanPolar  )

private

Definition at line 219 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,
		const bool	debug
	)

Definition at line 160 of file ScannerSickS300.cpp.

bool ScannerSickS300::isInStandby ( )

inline

Definition at line 93 of file ScannerSickS300.h.

bool ScannerSickS300::open	(	const char *	pcPort,
		int	iBaudRate,
		int	iScanId = 7
	)

Opens serial port.

Parameters

pcPort	used "COMx" or "/dev/tty1"
iBaudRate	baud rate
iScanId	the scanner id in the data header (7 by default)

Definition at line 103 of file ScannerSickS300.cpp.

void ScannerSickS300::purgeScanBuf

(

)

Definition at line 135 of file ScannerSickS300.cpp.

void ScannerSickS300::resetStartup

(

)

Definition at line 143 of file ScannerSickS300.cpp.

void ScannerSickS300::setRangeField ( const int  field, const ParamType &  param  )

inline

Definition at line 99 of file ScannerSickS300.h.

void ScannerSickS300::startScanner

(

)

Definition at line 149 of file ScannerSickS300.cpp.

void ScannerSickS300::stopScanner

(

)

Definition at line 155 of file ScannerSickS300.cpp.

Member Data Documentation

const double ScannerSickS300::c_dPi = 3.14159265358979323846

staticprivate

Definition at line 104 of file ScannerSickS300.h.

int ScannerSickS300::m_actualBufferSize

private

Definition at line 118 of file ScannerSickS300.h.

bool ScannerSickS300::m_bInStandby

private

Definition at line 119 of file ScannerSickS300.h.

double ScannerSickS300::m_dBaudMult

private

Definition at line 109 of file ScannerSickS300.h.

int ScannerSickS300::m_iPosReadBuf2

private

Definition at line 116 of file ScannerSickS300.h.

unsigned char ScannerSickS300::m_iScanId = 7

staticprivate

Definition at line 117 of file ScannerSickS300.h.

PARAM_MAP ScannerSickS300::m_Params

private

Definition at line 108 of file ScannerSickS300.h.

unsigned char ScannerSickS300::m_ReadBuf[READ_BUF_SIZE+10]

private

Definition at line 112 of file ScannerSickS300.h.

unsigned char ScannerSickS300::m_ReadBuf2[READ_BUF_SIZE+10]

private

Definition at line 113 of file ScannerSickS300.h.

SerialIO ScannerSickS300::m_SerialIO

private

Definition at line 122 of file ScannerSickS300.h.

unsigned int ScannerSickS300::m_uiSumReadBytes

private

Definition at line 114 of file ScannerSickS300.h.

std::vector<int> ScannerSickS300::m_viScanRaw

private

Definition at line 115 of file ScannerSickS300.h.

TelegramParser ScannerSickS300::tp_

private

Definition at line 123 of file ScannerSickS300.h.

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

• ScannerSickS300.h
• ScannerSickS300.cpp