ScannerSickS300.h

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/****************************************************************
 *
 * Copyright (c) 2010
 *
 * Fraunhofer Institute for Manufacturing Engineering   
 * and Automation (IPA)
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Project name: care-o-bot
 * ROS stack name: cob_driver
 * ROS package name: cob_sick_s300
 * Description:
 *                                                              
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *                      
 * Author: Christian Connette, email:christian.connette@ipa.fhg.de
 * Supervised by: Christian Connette, email:christian.connette@ipa.fhg.de
 *
 * Date of creation: Jan 2009
 * ToDo:
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * 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 Fraunhofer Institute for Manufacturing 
 *       Engineering and Automation (IPA) nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License LGPL as 
 * published by the Free Software Foundation, either version 3 of the 
 * License, or (at your option) any later version.
 * 
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License LGPL for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public 
 * License LGPL along with this program. 
 * If not, see <http://www.gnu.org/licenses/>.
 *
 ****************************************************************/

#ifndef SCANNERSICKS300_INCLUDEDEF_H
#define SCANNERSICKS300_INCLUDEDEF_H
//-----------------------------------------------

// base classes
#include <string>
#include <vector>
#include <iostream>
#include <math.h>
#include <stdio.h>

#include <cob_sick_s300/SerialIO.h>

class ScannerSickS300
{
public:

        // set of parameters which are specific to the SickS300
        struct ParamType
        {
                int iDataLength;        // length of data telegram
                int iHeaderLength;      // length of telegram header
                int iNumScanPoints;     // number of measurements in the scan
                double dScale;          // scaling of the scan (multiply with to get scan in meters)
                double dStartAngle;     // scan start angle
                double dStopAngle;      // scan stop angle
        };

        // storage container for received scanner data
        struct ScanPolarType
        {
                double dr; // distance //r;
                double da; // angle //a;
                double di; // intensity; //bool bGlare;
        };

        enum
        {
                SCANNER_S300_READ_BUF_SIZE = 10000,
                READ_BUF_SIZE = 10000,
                WRITE_BUF_SIZE = 10000
        };

        // Constructor
        ScannerSickS300();

        // Destructor
        ~ScannerSickS300();

        bool open(const char* pcPort, int iBaudRate, int iScanId);
        //bool open(char* pcPort, int iBaudRate);

        // not implemented
        void resetStartup();

        // not implmented
        void startScanner();

        // not implemented
        void stopScanner();
        //sick_lms.Uninitialize();

        void purgeScanBuf();

        bool getScan(std::vector<double> &vdDistanceM, std::vector<double> &vdAngleRAD, std::vector<double> &vdIntensityAU, unsigned int &iTimestamp, unsigned int &iTimeNow);
        //sick_lms.GetSickScan(values, num_values);

        // add sick_lms.GetSickScanResolution();

        // add sick_lms.GetSickMeasuringUnits();


private:

        // Constants
        static const unsigned short crc_LookUpTable[256];
        static const unsigned char c_StartBytes[10];
        static const double c_dPi;

        // Parameters
        ParamType m_Param;
        double m_dBaudMult;

        // Variables
        unsigned char m_ReadBuf[READ_BUF_SIZE+10];
        unsigned char m_ReadBuf2[READ_BUF_SIZE+10];
        unsigned int m_uiSumReadBytes;
        std::vector<int> m_viScanRaw;
        int m_iPosReadBuf2;
        static unsigned char m_iScanId;

        // Components
        SerialIO m_SerialIO;

        // Functions
        unsigned int getUnsignedWord(unsigned char msb, unsigned char lsb)
        {
                return (msb << 8) | lsb;
        }

        unsigned int createCRC(unsigned char *ptrData, int Size);

        void convertScanToPolar(std::vector<int> viScanRaw,
                                                        std::vector<ScanPolarType>& vecScanPolar);

};

//-----------------------------------------------
#endif