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CLMS100eth.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 
10 #ifndef CLMS100ETH_H
11 #define CLMS100ETH_H
12 
13 #include <mrpt/hwdrivers/C2DRangeFinderAbstract.h>
14 #include <mrpt/utils/CClientTCPSocket.h>
15 
16 namespace mrpt
17 {
18  namespace hwdrivers
19  {
20  /** This "software driver" implements the communication protocol for interfacing a SICK LMS100 laser scanners through an ethernet controller.
21  * This class does not need to be bind, i.e. you do not need to call C2DRangeFinderAbstract::bindIO.
22  * Connection is established when user call the turnOn() method. You can pass to the class's constructor the LMS100 's ip address and port.
23  * Device will be configured with the following parameters :
24  * - Start Angle : -45 deg (imposed by hardware)
25  * - Stop Angle : +225 deg (imposed by hardware)
26  * - Apperture : 270 deg (imposed by hardware)
27  * - Angular resolution : 0.25 deg
28  * - Scan frequency : 25 Hz
29  * - Max Range : 20m (imposed by hardware).
30  *
31  * <b>Important note:</b> SICK LMS 1xx devices have two levels of configuration. In its present implementation, this class only handles one of them, so
32  * <b>before using this class</b>, you must "pre-configure" your scanner with the SICK's software "SOAP" (this software ships with the device),
33  * and set the framerate with this software. Of course, you have to pre-configure the device just once, then save that configuration in its flash memory.
34  *
35  * To get a laser scan you must proceed like that :
36  * \code
37  * CLMS200Eth laser(string("192.168.0.10"), 1234);
38  * laser.turnOn();
39  * bool isOutObs, hardwareError;
40  * CObservation2DRangeScan outObs;
41  * laser.doProcessSimple(isOutObs, outObs, hardwareError);
42  * \endcode
43  *
44  * The sensor pose on the vehicle could be loaded from an ini configuration file with :
45  * \code
46  * PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
47  * -------------------------------------------------------
48  * [supplied_section_name]
49  * ip_address = 192.168.0.50 ;a string wich is the SICK's ip adress (default is 192.168.0.1)
50  * TCP_port = 1234 ; an integer value : the tcp ip port on wich the sick is listening (default is 2111).
51  * pose_x=0.21 ; Laser range scaner 3D position in the robot (meters)
52  * pose_y=0
53  * pose_z=0.34
54  * pose_yaw=0 ; Angles in degrees
55  * pose_pitch=0
56  * pose_roll=0
57  * \endcode
58  * This class doesn't configure the SICK LMS sensor, it is recomended to configure the sensor via the
59  * the SICK software : SOPAS.
60  * \note This class was contributed by Adrien Barral - Robopec (France)
61  * \ingroup mrpt_hwdrivers_grp
62  */
63  class HWDRIVERS_IMPEXP CLMS100Eth : public C2DRangeFinderAbstract
64  {
65  DEFINE_GENERIC_SENSOR(CLMS100Eth)
66  public:
67  /** Constructor.
68  * Note that there is default arguments, here you can customize IP Adress and TCP Port of your device.
69  */
70  CLMS100Eth(std::string _ip=std::string("192.168.0.1"), unsigned int _port=2111);
71  /** Destructor.
72  * Close communcation with the device, and free memory.
73  */
74  virtual ~CLMS100Eth();
75  /** This function acquire a laser scan from the device. If an error occured, hardwareError will be set to true.
76  * The new laser scan will be stored in the outObservation argument.
77  *
78  * \exception This method throw exception if the frame received from the LMS 100 contain the following bad parameters :
79  * * Status is not OK
80  * * Data in the scan aren't DIST1 (may be RSSIx or DIST2).
81  */
82  void doProcessSimple(bool &outThereIsObservation, mrpt::obs::CObservation2DRangeScan &outObservation, bool &hardwareError);
83 
84  /** This method must be called before trying to get a laser scan.
85  */
86  bool turnOn();
87  /** This method could be called manually to stop communication with the device. Method is also called by destructor.
88  */
89  bool turnOff();
90 
91  /** A method to set the sensor pose on the robot.
92  * Equivalent to setting the sensor pose via loading it from a config file.
93  */
94  void setSensorPose(const mrpt::poses::CPose3D& _pose);
95 
96  /** This method should be called periodically. Period depend on the process_rate in the configuration file.
97  */
98  void doProcess();
99 
100  /** Initialize the sensor according to the parameters previously read in the configuration file.
101  */
102  void initialize();
103  private :
104  std::string m_ip;
105  unsigned int m_port;
106  mrpt::utils::CClientTCPSocket m_client;
107  bool m_turnedOn;
108  std::string m_cmd;
109  bool m_connected;
110  unsigned int m_scanFrequency; // hertz
111  double m_angleResolution; // degrees
112  double m_startAngle; // degrees
113  double m_stopAngle; // degrees
114  mrpt::poses::CPose3D m_sensorPose;
115  double m_maxRange;
116  double m_beamApperture;
117 
118  void generateCmd(const char *cmd);
119  bool checkIsConnected();
120  bool decodeLogIn(char *msg);
121  bool decodeScanCfg(std::istringstream& stream);
122  bool decodeScanDataCfg(std::istringstream& stream);
123  bool decodeScan(char *buf, mrpt::obs::CObservation2DRangeScan& outObservation);
124  void sendCommand(const char *cmd);
125  void roughPrint( char *msg );
126 
127 
128  protected:
129  /** Load sensor pose on the robot, or keep the default sensor pose.
130  */
131  void loadConfig_sensorSpecific(const mrpt::utils::CConfigFileBase &configSource,const std::string &iniSection );
132 
133  };
134  }
135 }
136 #endif // CLMS100ETH_H
mrpt::hwdrivers::CLMS100Eth
This "software driver" implements the communication protocol for interfacing a SICK LMS100 laser scan...
Definition: CLMS100eth.h:63
C2DRangeFinderAbstract.h
mrpt::hwdrivers::CLMS100Eth::m_client
mrpt::utils::CClientTCPSocket m_client
Definition: CLMS100eth.h:106
mrpt::utils::CConfigFileBase
This class allows loading and storing values and vectors of different types from a configuration text...
Definition: CConfigFileBase.h:33
HWDRIVERS_IMPEXP
#define HWDRIVERS_IMPEXP
Definition: hwdrivers/include/mrpt/hwdrivers/link_pragmas.h:42
mrpt::hwdrivers::CLMS100Eth::m_sensorPose
mrpt::poses::CPose3D m_sensorPose
Definition: CLMS100eth.h:114
CClientTCPSocket.h
string
GLsizei const GLchar ** string
Definition: glext.h:3919
DEFINE_GENERIC_SENSOR
#define DEFINE_GENERIC_SENSOR(class_name)
This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...
Definition: CGenericSensor.h:273
mrpt::hwdrivers::C2DRangeFinderAbstract
This is the base, abstract class for "software drivers" interfaces to 2D scanners (laser range finder...
Definition: C2DRangeFinderAbstract.h:38
mrpt
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Definition: CParticleFilter.h:16
mrpt::obs::CObservation2DRangeScan
A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...
Definition: obs/CObservation2DRangeScan.h:43
mrpt::poses::CPose3D
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:72
mrpt::utils::CClientTCPSocket
A TCP socket that can be connected to a TCP server, implementing MRPT&#39;s CStream interface for passing...
Definition: CClientTCPSocket.h:34
mrpt::hwdrivers::CLMS100Eth::m_scanFrequency
unsigned int m_scanFrequency
Definition: CLMS100eth.h:110


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