lms400_cola.h
/*
* Player - One Hell of a Robot Server
* Copyright (C) 2007
* Nico Blodow and Radu Bogdan Rusu
*
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 2.1 of the License, or (at your option) any later version.
*
* This library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with this library; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/*
Desc: Driver for the SICK LMS400 unit
Author: Nico Blodow and Radu Bogdan Rusu
Date: 7 Feb 2007
CVS: $Id: lms400_cola.h 8135 2009-07-25 08:19:31Z thjc $
*/
#include "config.h"
#include <netdb.h>
#include <sys/types.h>
#include <vector>
#include <netinet/in.h>
#include <libplayerinterface/player.h>
#include <iostream>
#define BUF_SIZE 1024
typedef struct
{
unsigned char* string;
int length;
} MeasurementQueueElement_t;
typedef struct
{
uint16_t Format;
uint16_t DistanceScaling;
int32_t StartingAngle;
uint16_t AngularStepWidth;
uint16_t NumberMeasuredValues;
uint16_t ScanningFrequency;
uint16_t RemissionScaling;
uint16_t RemissionStartValue;
uint16_t RemissionEndValue;
} MeasurementHeader_t;
class lms400_cola
{
public:
lms400_cola (const char* host, int port, int debug_mode);
// Creates socket, connects
int Connect ();
int Disconnect ();
// Configuration parameters
int SetAngularResolution (const char* password, float ang_res, float angle_start, float angle_range);
int SetScanningFrequency (const char* password, float freq, float angle_start, float angle_range);
int SetResolutionAndFrequency (float freq, float ang_res, float angle_start, float angle_range);
int StartMeasurement (bool intensity = true);
player_laser_data ReadMeasurement ();
int StopMeasurement ();
int SetUserLevel (int8_t userlevel, const char* password);
int GetMACAddress (char** macadress);
int SetIP (char* ip);
int SetGateway (char* gw);
int SetNetmask (char* mask);
int SetPort (uint16_t port);
int ResetDevice ();
int TerminateConfiguration ();
int SendCommand (const char* cmd);
int ReadResult ();
// for "Variables", Commands that only reply with one Answer message
int ReadAnswer ();
// for "Procedures", Commands that reply with a Confirmation message and an Answer message
int ReadConfirmationAndAnswer ();
int EnableRIS (int onoff);
player_laser_config GetConfiguration ();
int SetMeanFilterParameters (int num_scans);
int SetRangeFilterParameters (float *ranges);
int EnableFilters (int filter_mask);
// turns a string holding an ip address into long
unsigned char* ParseIP (char* ip);
private:
// assembles STX's, length field, message, checksum ready to be sent. Cool.
int assemblecommand (unsigned char* command, int len);
const char* hostname;
int sockfd, portno, n;
struct sockaddr_in serv_addr;
#if HAVE_GETADDRINFO
struct addrinfo *addr_ptr;
#else
struct hostent *server;
#endif
// Internal Parameters:
int verbose;
int ExtendedRIS;
int MeanFilterNumScans;
float RangeFilterTopLimit;
float RangeFilterBottomLimit;
int FilterMask;
player_laser_config Configuration;
// for reading:
unsigned char buffer[4096];
unsigned int bufferlength;
// for sending:
unsigned char command[BUF_SIZE];
int commandlength;
std::vector<MeasurementQueueElement_t>* MeasurementQueue;
};
player_laser_config
Request/reply: Get/set scan properties.
Definition: player_interfaces.h:964
MeasurementQueueElement_t
Definition: lms400_cola.h:41
lms400_cola
Definition: lms400_cola.h:63
player_laser_data
Data: scan (PLAYER_LASER_DATA_SCAN)
Definition: player_interfaces.h:886
MeasurementHeader_t
Definition: lms400_cola.h:48

Last updated 12 September 2005 21:38:45