Laser Class Reference

This class handles all the low level laser stuff for the old laser scanners. More...

#include <laser.h>

Collaboration diagram for Laser:

List of all members.

Classes
struct	direcs_laser_laser_config_t
struct	direcs_param_t
struct	laser_device_t
struct	laser_settings_t
struct	sick_laser_t

Public Types
enum	direcs_laser_laser_type_t {   SICK_LMS = 0, SICK_PLS = 1, HOKUYO_URG = 2, SIMULATED_LASER = 3,   UMKNOWN_PROXIMITY_SENSOR = 99 }
enum	direcs_laser_remission_type_t { REMISSION_NONE = 0, REMISSION_DIRECT = 1, REMISSION_NORMALIZED = 2 }
typedef void(*	direcs_param_change_handler_t )(char *module, char *variable, char *value)
typedef struct Laser::direcs_param_t *	direcs_param_p
typedef char	direcs_param_type_t
	For the direcs laserThread.
typedef struct Laser::laser_device_t *	laser_device_p
enum	laser_model_t { PLS, LMS }
enum	parity_t { N, E, O }
enum	range_dist_t {   SICK_RANGE80M, SICK_RANGE160M, SICK_RANGE320M, SICK_REMISSION_NORM,   SICK_REMISSION_DIRECT }
enum	range_res_t { CM, MM, DM }
typedef struct Laser::sick_laser_t *	sick_laser_p

Signals
void	message (QString text)

Public Member Functions
void	check_parameter_settings (sick_laser_p laser)
double	direcs_degrees_to_radians (double theta)
double	direcs_get_time (void)
int	direcs_laser_run (void)
void	direcs_laser_shutdown (int x)
int	direcs_laser_start (short int laserScanner)
double	direcs_radians_to_degrees (double theta)
float	getLaserDistance (int laser, int angle)
int	getLaserNumReadings (int laser)
void	interpret_params (sick_laser_p laser, QString dev, QString type, double res, QString rem, double fov)
	Laser ()
void	read_parameters (short int laserScanner)
void	set_default_parameters (sick_laser_p laser, int laser_num)
void	set_laser_config_structure (sick_laser_p laser, direcs_laser_laser_config_t *config)
void	setDevicePort (short int laser, QString serialPort)
void	shutdown_laser (int x)
int	sick_connect_device (sick_laser_p laser)
void	sick_handle_laser (sick_laser_p laser)
int	sick_start_laser (sick_laser_p laser)
void	sick_stop_laser (sick_laser_p laser)
	~Laser ()

Public Attributes
sick_laser_t *	laser1
direcs_laser_laser_config_t *	laser1_config
sick_laser_t *	laser2
direcs_laser_laser_config_t *	laser2_config
sick_laser_t *	laser3
direcs_laser_laser_config_t *	laser3_config
sick_laser_t *	laser4
direcs_laser_laser_config_t *	laser4_config
sick_laser_t *	laser5
direcs_laser_laser_config_t *	laser5_config
QString	laserSerialPort1
QString	laserSerialPort2
QString	laserSerialPort3
QString	laserSerialPort4
QString	laserSerialPort5
int	quit_signal
int	use_laser1
int	use_laser2
int	use_laser3
int	use_laser4
int	use_laser5

Static Public Attributes
static const short int	LASER1 = 1
static const short int	LASER2 = 2
	For the direcs laserThread.
static const short int	LASER3 = 4
	For the direcs laserThread.
static const short int	LASER4 = 8
	For the direcs laserThread.
static const short int	LASER5 = 16
	For the direcs laserThread.

Private Member Functions
int	cBaudrate (int baudrate)
int	cDataSize (int numbits)
int	cFlowControl (int flowcontrol)
int	cParity (parity_t par)
int	cStopSize (int numbits)
int	iParity (parity_t par)
int	iSoftControl (int flowcontrol)
int	kernel_minimum_version (int a, int b, int c)
void	sick_allocate_laser (sick_laser_p laser)
int	sick_check_baudrate (sick_laser_p laser, int brate)
int	sick_compute_checksum (unsigned char *CommData, int uLen)
int	sick_detect_baudrate (sick_laser_p laser)
void	sick_install_settings (sick_laser_p laser)
int	sick_parse_conf_data (sick_laser_p laser, unsigned char *buf, int length)
void	sick_process_packet (sick_laser_p laser, unsigned char *packet)
void	sick_process_packet_distance (sick_laser_p laser, unsigned char *packet)
void	sick_process_packet_remission (sick_laser_p laser, unsigned char *packet)
int	sick_read_data (sick_laser_p laser, unsigned char *data, double timeout)
int	sick_request_lms_config (sick_laser_p laser)
void	sick_request_sensor (sick_laser_p laser)
void	sick_request_status (sick_laser_p laser)
int	sick_serial_connect (sick_laser_p laser)
void	sick_set_baudrate (sick_laser_p laser, int brate)
int	sick_set_config_mode (sick_laser_p laser)
int	sick_set_laser_baudrate (sick_laser_p laser, int brate)
int	sick_set_lms_config (sick_laser_p laser, unsigned char *data, int len)
int	sick_set_lms_range (sick_laser_p laser)
int	sick_set_lms_resolution (sick_laser_p laser)
int	sick_set_serial_params (sick_laser_p laser)
void	sick_start_continuous_mode (sick_laser_p laser)
void	sick_start_continuous_remission_part_mode (sick_laser_p laser)
void	sick_stop_continuous_mode (sick_laser_p laser)
int	sick_testBaudrate (sick_laser_p laser, int brate)
int	sick_valid_packet (unsigned char *data, long size, long *offset, long *len)
int	sick_write_command (sick_laser_p laser, unsigned char command, unsigned char *argument, int arg_length)

Private Attributes
DirecsSerial *	serialPort

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Detailed Description

This class handles all the low level laser stuff for the old laser scanners.

Currently supported are SICK LMS, PLS or HOKUYO_URG.

Definition at line 187 of file laser.h.

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Member Typedef Documentation

typedef void(* Laser::direcs_param_change_handler_t)(char *module, char *variable, char *value)

Definition at line 208 of file laser.h.

typedef struct Laser::direcs_param_t * Laser::direcs_param_p

typedef char Laser::direcs_param_type_t

For the direcs laserThread.

This data structure is used by direcs_param_install_params and direcs_param_usage to load and report the usage of a large number of parameters.

Definition at line 206 of file laser.h.

typedef struct Laser::laser_device_t * Laser::laser_device_p

typedef struct Laser::sick_laser_t * Laser::sick_laser_p

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Member Enumeration Documentation

enum Laser::direcs_laser_laser_type_t

defines the type of laser that is used

Enumerator:

SICK_LMS
SICK_PLS
HOKUYO_URG
SIMULATED_LASER
UMKNOWN_PROXIMITY_SENSOR

Definition at line 288 of file laser.h.

enum Laser::direcs_laser_remission_type_t

Possible remission values

Enumerator:

REMISSION_NONE
REMISSION_DIRECT
REMISSION_NORMALIZED

Definition at line 300 of file laser.h.

enum Laser::laser_model_t

Enumerator:

PLS
LMS

Definition at line 228 of file laser.h.

enum Laser::parity_t

Enumerator:

N
E
O

Definition at line 231 of file laser.h.

enum Laser::range_dist_t

Enumerator:

SICK_RANGE80M
SICK_RANGE160M
SICK_RANGE320M
SICK_REMISSION_NORM
SICK_REMISSION_DIRECT

Definition at line 230 of file laser.h.

enum Laser::range_res_t

Enumerator:

CM
MM
DM

Definition at line 229 of file laser.h.

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Constructor & Destructor Documentation

Laser::Laser

(

)

Definition at line 23 of file laser.cpp.

Laser::~Laser

(

)

Definition at line 54 of file laser.cpp.

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Member Function Documentation

int Laser::cBaudrate ( int  baudrate )

private

Definition at line 864 of file laser.cpp.

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int Laser::cDataSize ( int  numbits )

private

Definition at line 811 of file laser.cpp.

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int Laser::cFlowControl ( int  flowcontrol )

private

Definition at line 842 of file laser.cpp.

void Laser::check_parameter_settings

(

sick_laser_p

laser

)

Definition at line 95 of file laser.cpp.

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int Laser::cParity ( parity_t  par )

private

Definition at line 851 of file laser.cpp.

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int Laser::cStopSize ( int  numbits )

private

Definition at line 833 of file laser.cpp.

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double Laser::direcs_degrees_to_radians

(

double

theta

)

Definition at line 785 of file laser.cpp.

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double Laser::direcs_get_time

(

void

)

Definition at line 1998 of file laser.cpp.

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int Laser::direcs_laser_run

(

void

)

Definition at line 557 of file laser.cpp.

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void Laser::direcs_laser_shutdown

(

int

x

)

Definition at line 538 of file laser.cpp.

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int Laser::direcs_laser_start

(

short int

laserScanner

)

Definition at line 408 of file laser.cpp.

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double Laser::direcs_radians_to_degrees

(

double

theta

)

Definition at line 780 of file laser.cpp.

float Laser::getLaserDistance	(	int	laser,
		int	angle
	)

Returns:

a measured distance in meter (m). The measured value is converted from cm to m here.

Definition at line 720 of file laser.cpp.

int Laser::getLaserNumReadings

(

int

laser

)

Definition at line 696 of file laser.cpp.

void Laser::interpret_params	(	sick_laser_p	laser,
		QString	dev,
		QString	type,
		double	res,
		QString	rem,
		double	fov
	)

Definition at line 189 of file laser.cpp.

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int Laser::iParity ( parity_t  par )

private

Definition at line 793 of file laser.cpp.

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int Laser::iSoftControl ( int  flowcontrol )

private

Definition at line 802 of file laser.cpp.

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int Laser::kernel_minimum_version ( int  a, int  b, int  c  )

private

Definition at line 947 of file laser.cpp.

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void Laser::message ( QString  text )

signal

Emits a info messge to a slot. This slot can be used to display a text on a splash screen, log file, to print it to a console...

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void Laser::read_parameters

(

short int

laserScanner

)

Definition at line 239 of file laser.cpp.

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void Laser::set_default_parameters	(	sick_laser_p	laser,
		int	laser_num
	)

Definition at line 72 of file laser.cpp.

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void Laser::set_laser_config_structure	(	sick_laser_p	laser,
		direcs_laser_laser_config_t *	config
	)

Definition at line 309 of file laser.cpp.

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void Laser::setDevicePort	(	short int	laser,
		QString	serialPort
	)

Todo:

add support for laser 3 to 5

Definition at line 765 of file laser.cpp.

void Laser::shutdown_laser

(

int

x

)

Definition at line 689 of file laser.cpp.

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void Laser::sick_allocate_laser ( sick_laser_p  laser )

private

Definition at line 1615 of file laser.cpp.

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int Laser::sick_check_baudrate ( sick_laser_p  laser, int  brate  )

private

Definition at line 1585 of file laser.cpp.

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int Laser::sick_compute_checksum ( unsigned char *  CommData, int  uLen  )

private

Compute the CRC checksum of a segment of data.

Definition at line 1065 of file laser.cpp.

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int Laser::sick_connect_device

(

sick_laser_p

laser

)

Definition at line 1666 of file laser.cpp.

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int Laser::sick_detect_baudrate ( sick_laser_p  laser )

private

Definition at line 1538 of file laser.cpp.

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void Laser::sick_handle_laser

(

sick_laser_p

laser

)

Process any data that is available from the laser. Attempt to detect valid packets in the data.

Todo:

change std output

Definition at line 1916 of file laser.cpp.

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void Laser::sick_install_settings ( sick_laser_p  laser )

private

Definition at line 1600 of file laser.cpp.

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int Laser::sick_parse_conf_data ( sick_laser_p  laser, unsigned char *  buf, int  length  )

private

Definition at line 1357 of file laser.cpp.

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void Laser::sick_process_packet ( sick_laser_p  laser, unsigned char *  packet  )

private

Definition at line 1908 of file laser.cpp.

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void Laser::sick_process_packet_distance ( sick_laser_p  laser, unsigned char *  packet  )

private

Interpret packets received from the laser. If the packets contain laser data, expand the data into a useful form.

Definition at line 1820 of file laser.cpp.

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void Laser::sick_process_packet_remission ( sick_laser_p  laser, unsigned char *  packet  )

private

Definition at line 1859 of file laser.cpp.

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int Laser::sick_read_data ( sick_laser_p  laser, unsigned char *  data, double  timeout  )

private

Definition at line 1093 of file laser.cpp.

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int Laser::sick_request_lms_config ( sick_laser_p  laser )

private

Definition at line 1335 of file laser.cpp.

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void Laser::sick_request_sensor ( sick_laser_p  laser )

private

Definition at line 1262 of file laser.cpp.

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void Laser::sick_request_status ( sick_laser_p  laser )

private

Definition at line 1257 of file laser.cpp.

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int Laser::sick_serial_connect ( sick_laser_p  laser )

private

This method opens the serial port of the laser scanner, sets the serial port parameters and tries to set the latency mode, if defined

Returns:

the file descriptor of the opend serial port

Todo:

check if this still works with Linux!

Definition at line 1018 of file laser.cpp.

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void Laser::sick_set_baudrate ( sick_laser_p  laser, int  brate  )

private

Definition at line 961 of file laser.cpp.

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int Laser::sick_set_config_mode ( sick_laser_p  laser )

private

Definition at line 1288 of file laser.cpp.

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int Laser::sick_set_laser_baudrate ( sick_laser_p  laser, int  brate  )

private

Definition at line 1270 of file laser.cpp.

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int Laser::sick_set_lms_config ( sick_laser_p  laser, unsigned char *  data, int  len  )

private

Definition at line 1344 of file laser.cpp.

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int Laser::sick_set_lms_range ( sick_laser_p  laser )

private

Definition at line 1430 of file laser.cpp.

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int Laser::sick_set_lms_resolution ( sick_laser_p  laser )

private

Definition at line 1305 of file laser.cpp.

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int Laser::sick_set_serial_params ( sick_laser_p  laser )

private

Returns:

-1 in case of error

Definition at line 915 of file laser.cpp.

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void Laser::sick_start_continuous_mode ( sick_laser_p  laser )

private

Definition at line 1445 of file laser.cpp.

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void Laser::sick_start_continuous_remission_part_mode ( sick_laser_p  laser )

private

Definition at line 1475 of file laser.cpp.

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int Laser::sick_start_laser

(

sick_laser_p

laser

)

Establish the serial connection to the laser and set the laser in the wanted mode(s).

Todo:

MK which value is a good one here?

Definition at line 1687 of file laser.cpp.

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void Laser::sick_stop_continuous_mode ( sick_laser_p  laser )

private

Definition at line 1464 of file laser.cpp.

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void Laser::sick_stop_laser

(

sick_laser_p

laser

)

Definition at line 1989 of file laser.cpp.

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int Laser::sick_testBaudrate ( sick_laser_p  laser, int  brate  )

private

Test a combination of baudrate and parity of the laser.

Definition at line 1503 of file laser.cpp.

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int Laser::sick_valid_packet ( unsigned char *  data, long  size, long *  offset, long *  len  )

private

This function returns 1 if a valid packet is detected in a chunk of data.

Returns:

An offset and packet length

Definition at line 1780 of file laser.cpp.

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int Laser::sick_write_command ( sick_laser_p  laser, unsigned char  command, unsigned char *  argument, int  arg_length  )

private

Definition at line 1180 of file laser.cpp.

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---

Member Data Documentation

const short int Laser::LASER1 = 1

static

Definition at line 195 of file laser.h.

sick_laser_t* Laser::laser1

Definition at line 322 of file laser.h.

direcs_laser_laser_config_t* Laser::laser1_config

Definition at line 327 of file laser.h.

const short int Laser::LASER2 = 2

static

For the direcs laserThread.

Definition at line 196 of file laser.h.

sick_laser_t* Laser::laser2

Definition at line 323 of file laser.h.

direcs_laser_laser_config_t* Laser::laser2_config

Definition at line 328 of file laser.h.

const short int Laser::LASER3 = 4

static

For the direcs laserThread.

Definition at line 197 of file laser.h.

sick_laser_t* Laser::laser3

Definition at line 324 of file laser.h.

direcs_laser_laser_config_t* Laser::laser3_config

Definition at line 329 of file laser.h.

const short int Laser::LASER4 = 8

static

For the direcs laserThread.

Definition at line 198 of file laser.h.

sick_laser_t* Laser::laser4

Definition at line 325 of file laser.h.

direcs_laser_laser_config_t* Laser::laser4_config

Definition at line 330 of file laser.h.

const short int Laser::LASER5 = 16

static

For the direcs laserThread.

Definition at line 199 of file laser.h.

sick_laser_t* Laser::laser5

Definition at line 326 of file laser.h.

direcs_laser_laser_config_t* Laser::laser5_config

Definition at line 331 of file laser.h.

QString Laser::laserSerialPort1

Definition at line 340 of file laser.h.

QString Laser::laserSerialPort2

Definition at line 341 of file laser.h.

QString Laser::laserSerialPort3

Definition at line 342 of file laser.h.

QString Laser::laserSerialPort4

Definition at line 343 of file laser.h.

QString Laser::laserSerialPort5

Definition at line 344 of file laser.h.

int Laser::quit_signal

Definition at line 338 of file laser.h.

DirecsSerial* Laser::serialPort

private

Definition at line 460 of file laser.h.

int Laser::use_laser1

Definition at line 333 of file laser.h.

int Laser::use_laser2

Definition at line 334 of file laser.h.

int Laser::use_laser3

Definition at line 335 of file laser.h.

int Laser::use_laser4

Definition at line 336 of file laser.h.

int Laser::use_laser5

Definition at line 337 of file laser.h.

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The documentation for this class was generated from the following files:

• direcs/src/laser.h
• direcs/src/laser.cpp