Program Listing for File ScannerSickS300.h

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/*
 * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0

 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */


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

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

#include <common/SerialIO.h>
#include <common/TelegramS300.h>

class ScannerSickS300
{
public:

    // set of parameters which are specific to the SickS300
    struct ParamType
    {
        int range_field; //measurement range (1 to 5) --> usually 1 (default)
        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);

    // not implemented
    void resetStartup();

    // not implmented
    void startScanner();

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

    // whether the scanner is currently in Standby or not
    bool isInStandby() {return m_bInStandby;}

    void purgeScanBuf();

    bool getScan(std::vector<double> &vdDistanceM, std::vector<double> &vdAngleRAD, std::vector<double> &vdIntensityAU, unsigned int &iTimestamp, unsigned int &iTimeNow, const bool debug);

    void setRangeField(const int field, const ParamType &param) {m_Params[field] = param;}

private:

    // Constants
    static const double c_dPi;

    // Parameters
    typedef std::map<int, ParamType> PARAM_MAP;
    PARAM_MAP m_Params;
    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;
    int m_actualBufferSize;
    bool m_bInStandby;

    // Components
    SerialIO m_SerialIO;
    TelegramParser tp_;

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

};

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