scanner_data.h

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// Copyright (c) 2019-2020 Pilz GmbH & Co. KG
//
// This program 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 3 of the License, or
// (at your option) any later version.
//
// This program 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 program.  If not, see <https://www.gnu.org/licenses/>.

#ifndef PSEN_SCAN_SCANNER_PARAMETER_H
#define PSEN_SCAN_SCANNER_PARAMETER_H

#include <endian.h>
#include <cstdint>

#include <psen_scan/psen_scan_internal_angle.h>

namespace psen_scan
{
uint32_t const START_MONITORING_OPCODE = htole32(9);

uint64_t const START_MONITORING_FIXED_SEQUENCE = 0x0000000100000001;

uint32_t const STOP_MONITORING_OPCODE = htole32(18);

uint32_t const MONITORING_FRAME_OPCODE = 0xC9;    
uint16_t const MAX_NUMBER_OF_SAMPLES = 550;       
unsigned short const PSEN_SCAN_PORT_WRITE = 3000; 
unsigned short const PSEN_SCAN_PORT_READ = 2000;  
PSENscanInternalAngle const MIN_SCAN_ANGLE(0);    
PSENscanInternalAngle const MAX_SCAN_ANGLE(2750); 
uint16_t const NUMBER_OF_SAMPLES_FULL_SCAN_MASTER = 2750; 
double const SCAN_TIME = 0.03;                            
}  // namespace psen_scan

#endif  // PSEN_SCAN_SCANNER_PARAMETER_H