hokuyo.h

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/*
 *  Player - One Hell of a Robot Server
 *  Copyright (C) 2008-2010  Willow Garage
 *
 *  This library is free software; you can redistribute it and/or
 *  modify it under the terms of the GNU Lesser General Public
 *  License as published by the Free Software Foundation; either
 *  version 2.1 of the License, or (at your option) any later version.
 *
 *  This library 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 for more details.
 *
 *  You should have received a copy of the GNU Lesser General Public
 *  License along with this library; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 */

/* \mainpage hokuyo_node
 *  \htmlinclude manifest.html
 */

#ifndef HOKUYO_HH
#define HOKUYO_HH

#include <stdexcept>
#include <termios.h>
#include <string>
#include <vector>
#include <stdint.h>
#include <limits>

namespace hokuyo
{
  const uint32_t MAX_READINGS = 1128;

  const int MAX_CMD_LEN = 100;

  const int MAX_SKIPPED = 1000000;
  
#define DEF_EXCEPTION(name, parent) \
  class name  : public parent { \
  public: \
    name(const char* msg) : parent(msg) {} \
  }\
  

  DEF_EXCEPTION(Exception, std::runtime_error);

  DEF_EXCEPTION(TimeoutException, Exception);

  DEF_EXCEPTION(CorruptedDataException, Exception);

  DEF_EXCEPTION(RepeatedTimeException, Exception);

#undef DEF_EXCEPTION

  struct LaserConfig
  {
    float min_angle;
    float max_angle;
    float ang_increment;
    float time_increment;
    float scan_time;
    float min_range;
    float max_range;
    float range_res;
  };


  struct LaserScan
  {
    std::vector<float> ranges;
    std::vector<float> intensities;
    uint64_t self_time_stamp;
    uint64_t system_time_stamp;
    LaserConfig config;
  };



  class Laser
  {
  public:
    Laser();

    ~Laser();
  

    void open(const char * port_name);


    void close();


    void reset();
  
    bool portOpen() {  return laser_fd_ != -1; }

        // sets up model 04LX to work in SCIP 2.0 mode
    void setToSCIP2();

    int sendCmd(const char* cmd, int timeout = -1);


    void getConfig(LaserConfig& config);



    int pollScan(LaserScan& scan, double min_ang, double max_ang, int clustering = 0, int timeout = -1);


    int requestScans(bool intensity, double min_ang, double max_ang, int clustering = 0, int skip = 0, int num = 0, int timeout = -1);


    int serviceScan(LaserScan& scan, int timeout = -1);


    int laserOff();


    int laserOn();


    int stopScanning();


    std::string getID();


    std::string getStatus();


    long long calcLatency(bool intensity, double min_ang, double max_ang, int clustering = 0, int skip = 0, int num = 0, int timeout = -1);

    void clearLatency()
    {
      offset_ = 0;
    }

    long long getLatency()
    {
      return offset_;
    }


    std::string getFirmwareVersion();


    std::string getVendorName();


    std::string getProductName();


    std::string getProtocolVersion();


    bool isIntensitySupported();

    void queryVersionInformation();
  
    int laserWrite(const char* msg);

    int laserReadline(char *buf, int len, int timeout = -1);

    int laserFlush();

    uint64_t readTime(int timeout = -1);

  private:
    //the Hokuyo clock. Returns the median of reps measurements.
    long long int getHokuyoClockOffset(int reps, int timeout = -1);

    // timestamp (PC) and the scan timestamp (Hokuyo).
    long long int getHokuyoScanStampToSystemStampOffset(bool intensity, double min_ang, double max_ang, int clustering, int skip, int reps, int timeout = -1);
     
    void querySensorConfig();

    char* laserReadlineAfter(char *buf, int len, const char *str, int timeout = -1);

    bool checkSum(const char* buf, int buf_len);

    void readData(LaserScan& scan, bool has_intensity, int timout = -1);

    int dmin_;
    int dmax_;
    int ares_;
    int amin_;
    int amax_;
    int afrt_;
    int rate_;

    int wrapped_;

    unsigned int last_time_;

    unsigned int time_repeat_count_;

    long long offset_;

    int laser_fd_;

    std::string vendor_name_;
    std::string product_name_;
    std::string serial_number_;
    std::string protocol_version_;
    std::string firmware_version_;

    char read_buf[256];
    int read_buf_start;
    int read_buf_end;
  };

}

#endif