.. _program_listing_file_include_common_ScannerSickS300.h:

Program Listing for File ScannerSickS300.h
==========================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_common_ScannerSickS300.h>` (``include/common/ScannerSickS300.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * 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 <common/SerialIO.h>
   #include <common/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