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CSickLaserSerial.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 CSickLaserSerial_H
10 #define CSickLaserSerial_H
11 
15 
16 namespace mrpt
17 {
18  namespace hwdrivers
19  {
20  /** 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).
21  * The serial port is opened upon the first call to "doProcess" or "initialize", so you must call "loadConfig" before
22  * this, or manually call "setSerialPort". Another alternative is to call the base class method C2DRangeFinderAbstract::bindIO,
23  * but the "setSerialPort" interface is probably much simpler to use.
24  *
25  * For an example of usage see the example in "samples/SICK_laser_serial_test".
26  * See also the example configuration file for rawlog-grabber in "share/mrpt/config_files/rawlog-grabber".
27  *
28  * \code
29  * PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
30  * -------------------------------------------------------
31  * [supplied_section_name]
32  * COM_port_WIN = COM1 // Serial port to connect to
33  * COM_port_LIN = ttyS0
34  *
35  * COM_baudRate = 38400 // Possible values: 9600 (default), 38400, 5000000
36  * mm_mode = 1/0 // 1: millimeter mode, 0:centimeter mode (Default=0)
37  * FOV = 180 // Field of view: 100 or 180 degrees (Default=180)
38  * resolution = 50 // Scanning resolution, in units of 1/100 degree. Valid values: 25,50,100 (Default=50)
39  * //skip_laser_config = true // (Default:false) If true, doesn't send the initialization commands to the laser and go straight to capturing
40  *
41  * pose_x=0.21 // Laser range scaner 3D position in the robot (meters)
42  * pose_y=0
43  * pose_z=0.34
44  * pose_yaw=0 // Angles in degrees
45  * pose_pitch=0
46  * pose_roll=0
47  *
48  * //preview = true // Enable GUI visualization of captured data
49  *
50  * // Optional: Exclusion zones to avoid the robot seeing itself:
51  * //exclusionZone1_x = 0.20 0.30 0.30 0.20
52  * //exclusionZone1_y = 0.20 0.30 0.30 0.20
53  *
54  * // Optional: Exclusion zones to avoid the robot seeing itself:
55  * //exclusionAngles1_ini = 20 // Deg
56  * //exclusionAngles1_end = 25 // Deg
57  * \endcode
58  *
59  * \sa C2DRangeFinderAbstract
60  * \ingroup mrpt_hwdrivers_grp
61  */
63  {
65 
66  private:
67  bool m_mm_mode;
68  int m_scans_FOV; //!< 100 or 180 deg
69  int m_scans_res; //!< 1/100th of deg: 100, 50 or 25
70 
71  /** The sensor 6D pose: */
73 
74  static int CRC16_GEN_POL;
75 
76 
77  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.
78  bool waitContinuousSampleFrame( std::vector<float> &ranges, unsigned char &LMS_status, bool &is_mm_mode );
79 
80 
81  bool LMS_setupSerialComms(); //!< Assures laser is connected and operating at 38400, in its case returns true.
82  bool LMS_setupBaudrate(int baud); //!< Send a command to change the LMS comms baudrate, return true if ACK is OK. baud can be: 9600, 19200, 38400, 500000
83  bool LMS_statusQuery(); //!< Send a status query and wait for the answer. Return true on OK.
84  bool LMS_waitACK(uint16_t timeout_ms); //!< Returns false if timeout
85  bool LMS_waitIncomingFrame(uint16_t timeout); //!< Returns false if timeout
86  bool LMS_sendMeasuringMode_cm_mm(); //!< Returns false on error
87  bool LMS_startContinuousMode();
88  bool LMS_endContinuousMode();
89 
90  bool SendCommandToSICK(const uint8_t *cmd,const uint16_t cmd_len); //!< Send header+command-data+crc and waits for ACK. Return false on error.
91 
92  uint8_t m_received_frame_buffer[2000];
93 
94  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.
95  CSerialPort *m_mySerialPort; //!< Will be !=NULL only if I created it, so I must destroy it at the end.
96  int m_com_baudRate; //!< Baudrate: 9600, 38400, 500000
97  unsigned int m_nTries_connect; //!< Default = 1
98  unsigned int m_nTries_current;
99  bool m_skip_laser_config; //!< If true, doesn't send the initialization commands to the laser and go straight to capturing
100 
101  protected:
102  /** See the class documentation at the top for expected parameters */
103  void loadConfig_sensorSpecific(
104  const mrpt::utils::CConfigFileBase &configSource,
105  const std::string &iniSection );
106 
107  public:
108  /** Constructor */
110 
111  /** Destructor */
112  virtual ~CSickLaserSerial();
113 
114  /** Changes the serial port to connect to (call prior to 'doProcess'), for example "COM1" or "ttyS0".
115  * This is not needed if the configuration is loaded with "loadConfig".
116  */
117  void setSerialPort(const std::string &port) { m_com_port = port; }
118 
119  /** \sa setSerialPort */
120  std::string getSerialPort() const { return m_com_port; }
121 
122  /** Changes the serial port baud rate (call prior to 'doProcess'); valid values are 9600,38400 and 500000.
123  * This is not needed if the configuration is loaded with "loadConfig".
124  * \sa getBaudRate */
125  void setBaudRate(int baud) {
126  m_com_baudRate = baud;
127  }
128  /** \sa setBaudRate */
129  int getBaudRate() const { return m_com_baudRate; }
130 
131 
132  /** Enables/Disables the millimeter mode, with a greater accuracy but a shorter range (default=false)
133  * (call prior to 'doProcess') This is not needed if the configuration is loaded with "loadConfig".
134  */
135  void setMillimeterMode(bool mm_mode=true) { m_mm_mode = mm_mode; }
136 
137  /** Set the scanning field of view - possible values are 100 or 180 (default)
138  * (call prior to 'doProcess') This is not needed if the configuration is loaded with "loadConfig".
139  */
140  void setScanFOV(int fov_degrees) { m_scans_FOV = fov_degrees; }
141  int getScanFOV() const { return m_scans_FOV; }
142 
143  /** Set the scanning resolution, in units of 1/100 degree - Possible values are 25, 50 and 100, for 0.25, 0.5 (default) and 1 deg.
144  * (call prior to 'doProcess') This is not needed if the configuration is loaded with "loadConfig".
145  */
146  void setScanResolution(int res_1_100th_degree) { m_scans_res=res_1_100th_degree; }
147  int getScanResolution() const { return m_scans_res; }
148 
149  /** If performing several tries in ::initialize(), this is the current try loop number. */
150  unsigned int getCurrentConnectTry() const { return m_nTries_current; }
151 
152 
153  /** Specific laser scanner "software drivers" must process here new data from the I/O stream, and, if a whole scan has arrived, return it.
154  * This method will be typically called in a different thread than other methods, and will be called in a timely fashion.
155  */
156  void doProcessSimple(
157  bool &outThereIsObservation,
158  mrpt::obs::CObservation2DRangeScan &outObservation,
159  bool &hardwareError );
160 
161 
162  /** Set-up communication with the laser.
163  * Called automatically by rawlog-grabber.
164  * If used manually, call after "loadConfig" and before "doProcess".
165  *
166  * In this class this method does nothing, since the communications are setup at the first try from "doProcess" or "doProcessSimple".
167  */
168  void initialize();
169 
170  /** Enables the scanning mode (in this class this has no effect).
171  * \return If everything works "true", or "false" if there is any error.
172  */
173  bool turnOn();
174 
175  /** Disables the scanning mode (in this class this has no effect).
176  * \return If everything works "true", or "false" if there is any error.
177  */
178  bool turnOff();
179 
180  }; // End of class
181 
182  } // End of namespace
183 } // End of namespace
184 
185 #endif
void setMillimeterMode(bool mm_mode=true)
Enables/Disables the millimeter mode, with a greater accuracy but a shorter range (default=false) (ca...
CSerialPort * m_mySerialPort
Will be !=NULL only if I created it, so I must destroy it at the end.
unsigned __int16 uint16_t
Definition: rptypes.h:46
void setSerialPort(const std::string &port)
Changes the serial port to connect to (call prior to &#39;doProcess&#39;), for example "COM1" or "ttyS0"...
A communications serial port built as an implementation of a utils::CStream.
Definition: CSerialPort.h:43
int m_com_baudRate
Baudrate: 9600, 38400, 500000.
void setScanFOV(int fov_degrees)
Set the scanning field of view - possible values are 100 or 180 (default) (call prior to &#39;doProcess&#39;)...
This class allows loading and storing values and vectors of different types from a configuration text...
unsigned char uint8_t
Definition: rptypes.h:43
std::string m_com_port
If set to non-empty, the serial port will be attempted to be opened automatically when this class is ...
bool m_skip_laser_config
If true, doesn&#39;t send the initialization commands to the laser and go straight to capturing...
void setScanResolution(int res_1_100th_degree)
Set the scanning resolution, in units of 1/100 degree - Possible values are 25, 50 and 100...
mrpt::math::TPose3D m_sensorPose
The sensor 6D pose:
GLsizei const GLchar ** string
Definition: glext.h:3919
#define DEFINE_GENERIC_SENSOR(class_name)
This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...
int m_scans_res
1/100th of deg: 100, 50 or 25
This is the base, abstract class for "software drivers" interfaces to 2D scanners (laser range finder...
void setBaudRate(int baud)
Changes the serial port baud rate (call prior to &#39;doProcess&#39;); valid values are 9600,38400 and 500000.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...
This "software driver" implements the communication protocol for interfacing a SICK LMS 2XX laser sca...
Lightweight 3D pose (three spatial coordinates, plus three angular coordinates).
unsigned int m_nTries_connect
Default = 1.
unsigned int getCurrentConnectTry() const
If performing several tries in ::initialize(), this is the current try loop number.



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