00001 /* 00002 * 00003 * serialcomm_s300.h 00004 * 00005 * 00006 * Copyright (C) 2010 00007 * Autonomous Intelligent Systems Group 00008 * University of Bonn, Germany 00009 * 00010 * 00011 * Authors: Andreas Hochrath, Torsten Fiolka 00012 * 00013 * 00014 * This program is free software; you can redistribute it and/or modify 00015 * it under the terms of the GNU General Public License as published by 00016 * the Free Software Foundation; either version 3 of the License, or 00017 * (at your option) any later version. 00018 * 00019 * This program is distributed in the hope that it will be useful, 00020 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00021 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00022 * GNU General Public License for more details. 00023 * 00024 * You should have received a copy of the GNU General Public License 00025 * along with this program; if not, write to the Free Software 00026 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 00027 * 00028 * 00029 * Origin: 00030 * Player - One Hell of a Robot Server 00031 * serialstream.cc & sicks3000.cc 00032 * Copyright (C) 2003 00033 * Brian Gerkey 00034 * Copyright (C) 2000 00035 * Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard 00036 * 00037 */ 00038 00039 #ifndef __SERIALCOMMS300_H__ 00040 #define __SERIALCOMMS300_H__ 00041 00042 #include <string> 00043 00044 #define RX_BUFFER_SIZE 4096 00045 #define DEFAULT_SERIAL_PORT "/dev/sick300" 00046 #define DEFAULT_BAUD_RATE 500000 00047 00053 class SerialCommS300 00054 { 00055 public: 00056 00057 SerialCommS300(); 00058 ~SerialCommS300(); 00059 00060 // returns 0 if new laser data has arrived 00061 int readData(); 00062 00063 inline unsigned int getNumRanges() 00064 { 00065 return m_rangesCount; 00066 } 00067 inline float* getRanges() 00068 { 00069 return m_ranges; 00070 } 00071 00072 int connect(const std::string& deviceName, unsigned int baudRate = DEFAULT_BAUD_RATE); 00073 int disconnect(); 00074 00075 private: 00076 00077 void setFlags(); 00078 00079 int setBaudRate(int baudRate); 00080 int baudRateToBaudCode(int baudCode); 00081 00082 unsigned short createCRC(unsigned char* data, ssize_t len); 00083 00084 protected: 00085 00086 unsigned char m_rxBuffer[RX_BUFFER_SIZE]; 00087 00088 int m_fd; 00089 00090 int m_rxCount; 00091 00092 float* m_ranges; 00093 unsigned int m_rangesCount; 00094 00095 }; 00096 00097 #endif // __SERIALCOMMS300_H__ 00098
