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CCANBusReader.h
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1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +---------------------------------------------------------------------------+ */
9 #ifndef CCANBusReader_H
10 #define CCANBusReader_H
11 
16 
17 namespace mrpt
18 {
19  namespace hwdrivers
20  {
21  /** This "software driver" implements the communication protocol for interfacing a SICK LMS 2XX laser scanners through a standard RS232 serial port (or a USB2SERIAL converter).
22  * The serial port is opened upon the first call to "doProcess" or "initialize", so you must call "loadConfig" before
23  * this, or manually call "setSerialPort". Another alternative is to call the base class method C2DRangeFinderAbstract::bindIO,
24  * but the "setSerialPort" interface is probably much simpler to use.
25  *
26  * For an example of usage see the example in "samples/SICK_laser_serial_test".
27  * See also the example configuration file for rawlog-grabber in "share/mrpt/config_files/rawlog-grabber".
28  *
29  * \code
30  * PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
31  * -------------------------------------------------------
32  * [supplied_section_name]
33  * COM_port_WIN = COM1 // Serial port to connect to
34  * COM_port_LIN = ttyS0
35  *
36  * COM_baudRate = 38400 // Possible values: 9600 (default), 38400, 5000000
37  * mm_mode = 1/0 // 1: millimeter mode, 0:centimeter mode (Default=0)
38  * FOV = 180 // Field of view: 100 or 180 degrees (Default=180)
39  * resolution = 50 // Scanning resolution, in units of 1/100 degree. Valid values: 25,50,100 (Default=50)
40  *
41  *
42  * pose_x=0.21 // Laser range scaner 3D position in the robot (meters)
43  * pose_y=0
44  * pose_z=0.34
45  * pose_yaw=0 // Angles in degrees
46  * pose_pitch=0
47  * pose_roll=0
48  * \endcode
49  *
50  * \sa C2DRangeFinderAbstract
51  * \ingroup mrpt_hwdrivers_grp
52  */
53  class HWDRIVERS_IMPEXP CCANBusReader : public mrpt::utils::COutputLogger, public CGenericSensor
54  {
56 
57  private:
58 
59  bool tryToOpenComms(std::string *err_msg=NULL); //!< Tries to open the com port and setup all the LMS protocol. Returns true if OK or already open.
60  bool waitContinuousSampleFrame(
61  uint8_t &out_prio,
62  uint8_t &out_pdu_format,
63  uint8_t &out_pdu_spec,
64  uint8_t &out_src_address,
65  uint8_t &out_data_length,
66  uint16_t &out_pgn,
67  std::vector<uint8_t> &out_data,
68  std::vector<char> &out_raw_frame);
69 
70  bool sendCANBusReaderSpeed(); //!< Sends the specified speed to the CAN Converter.
71  bool CANBusOpenChannel(); //!< Opens the CAN Channel
72  bool CANBusCloseChannel(); //!< Closes the CAN Channel
73  bool CANBusAutoPoll();
74  bool CANBusPoll();
75  bool CANBusX1();
76  bool setupSerialComms();
77  bool queryVersion(bool printOutVersion = false);
78  bool waitACK(uint16_t timeout_ms);
79  bool waitForVersion(uint16_t timeout, bool printOutVersion = false);
80  bool waitIncomingFrame(uint16_t timeout);
81 
82  bool sendCommandToCANReader(const uint8_t *cmd, const uint16_t cmd_len, bool wait = true);
83 
84  uint8_t m_received_frame_buffer[2000];
85 
86  std::string m_com_port; //!< If set to non-empty, the serial port will be attempted to be opened automatically when this class is first used to request data from the laser.
87  CSerialPort *m_mySerialPort; //!< Will be !=NULL only if I created it, so I must destroy it at the end.
88  int m_com_baudRate; //!< Baudrate: 9600, 38400, 500000
89  unsigned int m_nTries_connect; //!< Default = 1
90  unsigned int m_nTries_current;
92  bool m_canreader_timestamp; // for future work
93  bool m_CANBusChannel_isOpen; // if the can bus channel is open or not
94 
95  protected:
96  /** See the class documentation at the top for expected parameters */
97  void loadConfig_sensorSpecific(
98  const mrpt::utils::CConfigFileBase &configSource,
99  const std::string &iniSection );
100 
101  public:
102  /** Constructor */
103  CCANBusReader();
104 
105  /** Destructor */
106  virtual ~CCANBusReader();
107 
108  /** Changes the serial port to connect to (call prior to 'doProcess'), for example "COM1" or "ttyS0".
109  * This is not needed if the configuration is loaded with "loadConfig".
110  */
111  void setSerialPort(const std::string &port) { m_com_port = port; }
112 
113  /** \sa setSerialPort */
114  std::string getSerialPort() const { return m_com_port; }
115 
116  /** Changes the serial port baud rate (call prior to 'doProcess'); valid values are 9600,38400 and 500000.
117  * This is not needed if the configuration is loaded with "loadConfig".
118  * \sa getBaudRate */
119  void setBaudRate(int baud) { m_com_baudRate = baud; }
120  /** \sa setBaudRate */
121  int getBaudRate() const { return m_com_baudRate; }
122 
123  /** Enables/Disables the addition of a timestamp according to the arrival time to the converter (default=false)
124  * (call prior to 'doProcess') This is not needed if the configuration is loaded with "loadConfig".
125  */
126  void setCANReaderTimeStamping( bool setTimestamp = false ) { m_canreader_timestamp = setTimestamp; }
127  bool getCANReaderTimeStamping( ) { return m_canreader_timestamp; }
128 
129  /** Sets the CAN reader speed when connecting to the CAN Bus
130  */
131  void setCANReaderSpeed( const unsigned int speed ) { m_canbus_speed = speed; }
132  unsigned int getCANReaderSpeed( ) { return m_canbus_speed; }
133 
134  /** If performing several tries in ::initialize(), this is the current try loop number. */
135  unsigned int getCurrentConnectTry() const { return m_nTries_current; }
136 
137  /** Specific laser scanner "software drivers" must process here new data from the I/O stream, and, if a whole scan has arrived, return it.
138  * This method will be typically called in a different thread than other methods, and will be called in a timely fashion.
139  */
140  void doProcessSimple(
141  bool &outThereIsObservation,
142  mrpt::obs::CObservationCANBusJ1939 &outObservation,
143  bool &hardwareError );
144 
145  /** Set-up communication with the laser.
146  * Called automatically by rawlog-grabber.
147  * If used manually, call after "loadConfig" and before "doProcess".
148  *
149  * In this class this method does nothing, since the communications are setup at the first try from "doProcess" or "doProcessSimple".
150  */
151  void initialize();
152 
153  void doProcess();
154 
155  }; // End of class
156 
157  } // End of namespace
158 } // End of namespace
159 
160 #endif
A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabbe...
void setCANReaderTimeStamping(bool setTimestamp=false)
Enables/Disables the addition of a timestamp according to the arrival time to the converter (default=...
unsigned __int16 uint16_t
Definition: rptypes.h:46
A communications serial port built as an implementation of a utils::CStream.
Definition: CSerialPort.h:43
This class stores a message from a CAN BUS with the protocol J1939.
std::string getSerialPort() const
CSerialPort * m_mySerialPort
Will be !=NULL only if I created it, so I must destroy it at the end.
Definition: CCANBusReader.h:87
void setBaudRate(int baud)
Changes the serial port baud rate (call prior to &#39;doProcess&#39;); valid values are 9600,38400 and 500000.
This class allows loading and storing values and vectors of different types from a configuration text...
unsigned char uint8_t
Definition: rptypes.h:43
This "software driver" implements the communication protocol for interfacing a SICK LMS 2XX laser sca...
Definition: CCANBusReader.h:53
void setCANReaderSpeed(const unsigned int speed)
Sets the CAN reader speed when connecting to the CAN Bus.
GLsizei const GLchar ** string
Definition: glext.h:3919
void setSerialPort(const std::string &port)
Changes the serial port to connect to (call prior to &#39;doProcess&#39;), for example "COM1" or "ttyS0"...
#define DEFINE_GENERIC_SENSOR(class_name)
This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
unsigned int getCurrentConnectTry() const
If performing several tries in ::initialize(), this is the current try loop number.
std::string m_com_port
If set to non-empty, the serial port will be attempted to be opened automatically when this class is ...
Definition: CCANBusReader.h:86
int m_com_baudRate
Baudrate: 9600, 38400, 500000.
Definition: CCANBusReader.h:88
unsigned int m_nTries_connect
Default = 1.
Definition: CCANBusReader.h:89



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