24 typedef unsigned char BYTE;
31 0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50A5, 0x60C6, 0x70E7,
32 0x8108, 0x9129, 0xA14A, 0xB16B, 0xC18C, 0xD1AD, 0xE1CE, 0xF1EF,
33 0x1231, 0x0210, 0x3273, 0x2252, 0x52B5, 0x4294, 0x72F7, 0x62D6,
34 0x9339, 0x8318, 0xB37B, 0xA35A, 0xD3BD, 0xC39C, 0xF3FF, 0xE3DE,
35 0x2462, 0x3443, 0x0420, 0x1401, 0x64E6, 0x74C7, 0x44A4, 0x5485,
36 0xA56A, 0xB54B, 0x8528, 0x9509, 0xE5EE, 0xF5CF, 0xC5AC, 0xD58D,
37 0x3653, 0x2672, 0x1611, 0x0630, 0x76D7, 0x66F6, 0x5695, 0x46B4,
38 0xB75B, 0xA77A, 0x9719, 0x8738, 0xF7DF, 0xE7FE, 0xD79D, 0xC7BC,
39 0x48C4, 0x58E5, 0x6886, 0x78A7, 0x0840, 0x1861, 0x2802, 0x3823,
40 0xC9CC, 0xD9ED, 0xE98E, 0xF9AF, 0x8948, 0x9969, 0xA90A, 0xB92B,
41 0x5AF5, 0x4AD4, 0x7AB7, 0x6A96, 0x1A71, 0x0A50, 0x3A33, 0x2A12,
42 0xDBFD, 0xCBDC, 0xFBBF, 0xEB9E, 0x9B79, 0x8B58, 0xBB3B, 0xAB1A,
43 0x6CA6, 0x7C87, 0x4CE4, 0x5CC5, 0x2C22, 0x3C03, 0x0C60, 0x1C41,
44 0xEDAE, 0xFD8F, 0xCDEC, 0xDDCD, 0xAD2A, 0xBD0B, 0x8D68, 0x9D49,
45 0x7E97, 0x6EB6, 0x5ED5, 0x4EF4, 0x3E13, 0x2E32, 0x1E51, 0x0E70,
46 0xFF9F, 0xEFBE, 0xDFDD, 0xCFFC, 0xBF1B, 0xAF3A, 0x9F59, 0x8F78,
47 0x9188, 0x81A9, 0xB1CA, 0xA1EB, 0xD10C, 0xC12D, 0xF14E, 0xE16F,
48 0x1080, 0x00A1, 0x30C2, 0x20E3, 0x5004, 0x4025, 0x7046, 0x6067,
49 0x83B9, 0x9398, 0xA3FB, 0xB3DA, 0xC33D, 0xD31C, 0xE37F, 0xF35E,
50 0x02B1, 0x1290, 0x22F3, 0x32D2, 0x4235, 0x5214, 0x6277, 0x7256,
51 0xB5EA, 0xA5CB, 0x95A8, 0x8589, 0xF56E, 0xE54F, 0xD52C, 0xC50D,
52 0x34E2, 0x24C3, 0x14A0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405,
53 0xA7DB, 0xB7FA, 0x8799, 0x97B8, 0xE75F, 0xF77E, 0xC71D, 0xD73C,
54 0x26D3, 0x36F2, 0x0691, 0x16B0, 0x6657, 0x7676, 0x4615, 0x5634,
55 0xD94C, 0xC96D, 0xF90E, 0xE92F, 0x99C8, 0x89E9, 0xB98A, 0xA9AB,
56 0x5844, 0x4865, 0x7806, 0x6827, 0x18C0, 0x08E1, 0x3882, 0x28A3,
57 0xCB7D, 0xDB5C, 0xEB3F, 0xFB1E, 0x8BF9, 0x9BD8, 0xABBB, 0xBB9A,
58 0x4A75, 0x5A54, 0x6A37, 0x7A16, 0x0AF1, 0x1AD0, 0x2AB3, 0x3A92,
59 0xFD2E, 0xED0F, 0xDD6C, 0xCD4D, 0xBDAA, 0xAD8B, 0x9DE8, 0x8DC9,
60 0x7C26, 0x6C07, 0x5C64, 0x4C45, 0x3CA2, 0x2C83, 0x1CE0, 0x0CC1,
61 0xEF1F, 0xFF3E, 0xCF5D, 0xDF7C, 0xAF9B, 0xBFBA, 0x8FD9, 0x9FF8,
62 0x6E17, 0x7E36, 0x4E55, 0x5E74, 0x2E93, 0x3EB2, 0x0ED1, 0x1EF0
68 unsigned short CrcValue=0xFFFF;
70 for (CounterWord = 0; CounterWord < Size; CounterWord++)
72 CrcValue = (CrcValue << 8) ^ crc_LookUpTable[ (((uint8_t)(CrcValue >> 8)) ^ *ptrData) ];
88 m_actualBufferSize = 0;
111 m_SerialIO.setBaudRate(iBaudRate);
112 m_SerialIO.setDeviceName(pcPort);
113 m_SerialIO.setBufferSize(READ_BUF_SIZE - 10 , WRITE_BUF_SIZE -10 );
115 m_SerialIO.setMultiplier(m_dBaudMult);
116 bRetSerial = m_SerialIO.openIO();
117 m_SerialIO.setTimeout(0.0);
160 bool ScannerSickS300::getScan(std::vector<double> &vdDistanceM, std::vector<double> &vdAngleRAD, std::vector<double> &vdIntensityAU,
unsigned int &iTimestamp,
unsigned int &iTimeNow,
const bool debug)
165 std::vector<ScanPolarType> vecScanPolar;
169 if(SCANNER_S300_READ_BUF_SIZE-2-m_actualBufferSize<=0)
170 m_actualBufferSize=0;
172 iNumRead2 = m_SerialIO.readBlocking((
char*)m_ReadBuf+m_actualBufferSize, SCANNER_S300_READ_BUF_SIZE-2-m_actualBufferSize);
173 if(iNumRead2<=0)
return false;
175 m_actualBufferSize = m_actualBufferSize + iNumRead2;
178 for(i=m_actualBufferSize; i>=0; i--)
181 if(tp_.parseHeader(m_ReadBuf+i, m_actualBufferSize-i, m_iScanId, debug))
183 tp_.readDistRaw(m_ReadBuf+i, m_viScanRaw, debug);
184 if(m_viScanRaw.size()>0) {
187 int old = m_actualBufferSize;
188 m_actualBufferSize -= tp_.getCompletePacketSize()+i;
189 for(
int i=0; i<old-m_actualBufferSize; i++)
190 m_ReadBuf[i] = m_ReadBuf[i+old-m_actualBufferSize];
196 PARAM_MAP::const_iterator
param = m_Params.find(tp_.getField());
197 if(bRet && param!=m_Params.end())
200 convertScanToPolar(param, m_viScanRaw, vecScanPolar);
203 vdDistanceM.resize(vecScanPolar.size());
204 vdAngleRAD.resize(vecScanPolar.size());
205 vdIntensityAU.resize(vecScanPolar.size());
207 for(
unsigned int i=0; i < vecScanPolar.size(); i++)
209 vdDistanceM[i] = vecScanPolar[i].dr;
210 vdAngleRAD[i] = vecScanPolar[i].da;
211 vdIntensityAU[i] = vecScanPolar[i].di;
220 std::vector<ScanPolarType>& vecScanPolar )
223 double dAngle, dAngleStep;
225 bool bInStandby =
true;
227 vecScanPolar.resize(viScanRaw.size());
228 dAngleStep = fabs(param->second.dStopAngle - param->second.dStartAngle) / double(viScanRaw.size() - 1) ;
231 for(
size_t i=0; i<viScanRaw.size(); i++)
233 dDist = double ((viScanRaw[i] & 0x1FFF) * param->second.dScale);
236 if ( !(viScanRaw[i] == 0x4004) )
239 dAngle = param->second.dStartAngle + i*dAngleStep;
240 dIntens = double(viScanRaw[i] & 0x2000);
242 vecScanPolar[i].dr = dDist;
243 vecScanPolar[i].da = dAngle;
244 vecScanPolar[i].di = dIntens;
247 m_bInStandby = bInStandby;
bool param(const std::string ¶m_name, T ¶m_val, const T &default_val)
static unsigned int createCRC(uint8_t *ptrData, int Size)
bool open(const char *pcPort, int iBaudRate, int iScanId)
static unsigned char m_iScanId
bool getScan(std::vector< double > &vdDistanceM, std::vector< double > &vdAngleRAD, std::vector< double > &vdIntensityAU, unsigned int &iTimestamp, unsigned int &iTimeNow, const bool debug)
static const double c_dPi
const unsigned short crc_LookUpTable[256]
void convertScanToPolar(const PARAM_MAP::const_iterator param, std::vector< int > viScanRaw, std::vector< ScanPolarType > &vecScanPolar)