Program Listing for File ScannerSickS300.hpp

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/*
 * 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 SICKS300_ROS2__COMMON__SCANNERSICKS300_HPP_
#define SICKS300_ROS2__COMMON__SCANNERSICKS300_HPP_

// base classes
#include <math.h>
#include <stdio.h>
#include <iostream>
#include <map>
#include <string>
#include <vector>

#include "sicks300_ros2/common/SerialIO.hpp"
#include "sicks300_ros2/common/TelegramS300.hpp"

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  // SICKS300_ROS2__COMMON__SCANNERSICKS300_HPP_