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 <cob_sick_s300/SerialIO.h>
#include <cob_sick_s300/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