#include <usick.h>

Inheritance diagram for USick:

Public Member Functions
virtual bool	changeMode (int scanangle, double resolution)

char *	getDeviceName ()

virtual bool	getNewestData (ULaserData *dest, unsigned long lastSerial, int fake)

USickData *	getNewestLocked ()

virtual bool	isPortOpen ()

virtual bool	isSick ()

	USick ()

	~USick ()

Public Member Functions inherited from ULaserDevice
virtual void	callGotNewDataWithObject ()

virtual void	createBaseVars ()

unsigned int	getBad ()

char *	getDeviceName ()

int	getDeviceNum ()

UPosition	getDevicePos ()

UPosRot	getDevicePose ()

URotation	getDeviceRot ()

unsigned int	getGood ()

char *	getLogFileName (char *buffer, int bufferCnt)

int	getLogInterval ()

bool	getLogUsedScans ()

int	getMaxMeasurements ()

bool	getMirror ()

double	getMsgRate ()

char *	getName ()

virtual const char *	getNameFromDevice ()

int	getScanAngle ()

double	getScanAngle (int measurement)

double	getScanResolution ()

unsigned long	getSerial ()

void	gotNewScan (ULaserData *gotData)

virtual bool	isLogFileOpen ()

virtual bool	isReplayDevice ()

bool	isRunning ()

bool	isSend ()

virtual bool	isVerbose ()

void	logFileClose ()

bool	logFileOpen ()

void	logThisScan (ULaserData *scan)

void	openRequest (bool toOpen)

void	print (char *preString)

virtual const char *	print (const char preString, char buff, int buffCnt)

void	send (char *msg)

virtual void	setCore (UCmdExe *pCore)

virtual void	setDeviceName (const char *device)

void	setDeviceNum (int value)

void	setDevicePose (UPosRot *newPose)

void	setLogInterval (int value)

void	setLogUsedScans (bool value)

void	setMirror (bool value)

void	setVarStructure (UVarPool *varStruct)

void	setVerbose (bool value)

bool	start ()

void	stop (bool justClosePort)

void	threadRunLoop ()

	ULaserDevice ()

virtual	~ULaserDevice ()

Public Member Functions inherited from UServerPush
int	addPushCommand (UServerInMsg *msg)

bool	doPushCall (UServerPushElement pe, const char value)

void	flushClientCmds (int clientIdx)

UServerPushImplement *	getImplementor ()

int	getPushCmdCnt (int cmdCnt, int callCnt)

UServerPushQueue *	getPushQueue ()

bool	gotCmdExe ()

void	gotNewData (void *pData)

bool	isUpdated (int lastCnt, int *newCnt)

bool	needNewData ()

void	print (const char *preString)

void	print (const char preString, char buff, int buffCnt)

void	servicePendingPushCmds ()

void	setCmdExe (UServerPushImplement *executor)

void	setImplementor (UServerPushImplement *executor)

bool	setResource (UResBase *resource, bool remove)

bool	setUpdated (const char *value)
	Add watch object if needed. An image or other object is updated. set object as updated, with an extra qualifier, that may be used as a parameter in a push call. this push list is then added to the to the push list examined by the server thread. when server thread reach this push list it will call to get a possible associated data structure by a call to needNewData() whish is expected to call gotNewData(void * data_structure) - but now in the server thread. More...

	UServerPush ()

virtual	~UServerPush ()

Protected Member Functions
void	addCRC16 (unsigned char *CommData)

void	close_port ()

virtual void	closePort ()

bool	enter_continous_mode ()

void	enter_installation_mode ()

unsigned int	getCCRC (unsigned char *CommData)

virtual double	getDefaultDelay ()

USickData *	getNextBuffLocked ()

USickData *	LMS_send_receive (unsigned char *telegram)

USickData *	LMS_send_receive (unsigned char *telegram, int repeats)

int	open_port (void)

virtual bool	openPort ()

bool	receive_continous_data (int *length)

virtual bool	receiveData ()

bool	receiveSimulatedData (int *length)

void	request_status ()

void	set_configuration ()

bool	set_fast_speed ()

virtual bool	set_resolution (int scanAngleDeg, int resolutionCdeg, int repeats)

bool	set_serial (int fd, int speed)

bool	set_slow_speed ()

unsigned short	specialCCRC (unsigned char *CommData, unsigned int uLen)

bool	stop_continous_mode ()

int	toLMS (int fd, unsigned char *msg, unsigned int datalen)

Protected Member Functions inherited from ULaserDevice
void	getFakeScan (ULaserData *dest, unsigned long lastSerial, int fake, double fakeDt=0.2)

virtual bool	sendToDevice (const char *msg, int lng)

void	updateScanData (UTime scanTime)

Protected Member Functions inherited from ULock
bool	lock ()

void	lockInit ()

void	post ()

bool	tryLock ()

bool	tryWait ()

	ULock ()

void	unlock ()

bool	wait ()

	~ULock ()

Protected Attributes
int	byteCnt

int	LMS_fd

unsigned char	LMS_response_buffer [RECEIVE_BUFFER_SIZE]

int	lostBytes

USickData	packs [PACK_BUF_SIZE]

int	packsNew

int	portSpeed

int	serialspeed

bool	verbose

int	wastedData

Protected Attributes inherited from ULaserDevice
double	angleResolution

ULogFile	datalog

int	datalogSeq

bool	datalogUsedScans

int	deviceNum

char	devName [MAX_DEVICE_NAME_LNG]

UTime	lastScanTime

int	loopCnt

double	maxValidRange

bool	mirrorData

int	modeAngleScan

char	name [MAX_NAME_LNG]

ULaserData *	pushData

bool	replayOrFake

bool	sendNewData

char	sendStr [MAX_SEND_MSG_LNG]

int	sendStrCnt

unsigned long	serial

unsigned int	statBadCnt

unsigned int	statGoodCnt

double	statMsgRate

pthread_t	threadHandle

bool	threadRunning

bool	threadStop

struct {
UVariable * framerate

UVariable * logData

UVariable * logDataInterval

UVariable * logSource

UVariable * maxRange

UVariable * name

UVariable * open

UVariable * pose

UVariable * scanDelay

UVariable * scanres

UVariable * scanwidth

UVariable * serial

UVariable * type

UVariable * versionInfo

}	var

UVarPool *	vars

bool	verbose

Detailed Description

Holds basic laser scanner functions

Author: Christian Andersen

Constructor & Destructor Documentation

USick::USick ( )

Constructor

References ULaserDevice::angleResolution, byteCnt, LMS_fd, lostBytes, MAX_NAME_LNG, ULaserDevice::maxValidRange, ULaserDevice::modeAngleScan, ULaserDevice::name, packsNew, portSpeed, serialspeed, ULaserDevice::setDeviceName(), SLOWSERIAL, SLOWSERIAL_BAUDRATE, and wastedData.

USick::~USick ( )

Destructor

References ULaserDevice::stop().

Member Function Documentation

void USick::addCRC16 ( unsigned char * CommData )

protected

Add CRC to this message

References getCCRC(), and TSIZE.

Referenced by isSick(), and LMS_send_receive().

bool USick::changeMode	(	int	scanangle,
		double	resolution
	)

virtual

Get number of measurements in scan-mode Get angle from measurement number - result is in degrees Print status Change scanner resolution mode. Returns true if new resolution is set

Reimplemented from ULaserDevice.

References ULaserDevice::angleResolution, ULaserDevice::devName, enter_continous_mode(), LMS_fd, ULock::lock(), ULaserDevice::modeAngleScan, roundi(), set_fast_speed(), set_resolution(), set_serial(), set_slow_speed(), SLOWSERIAL_BAUDRATE, stop_continous_mode(), and ULock::unlock().

Referenced by getDeviceName(), and openPort().

void USick::close_port ( )

protected

Close serial port

References LMS_fd.

Referenced by closePort(), and isSick().

void USick::closePort ( )

protectedvirtual

Close serial port

Reimplemented from ULaserDevice.

References close_port(), LMS_fd, set_slow_speed(), and stop_continous_mode().

Referenced by isSick().

bool USick::enter_continous_mode ( )

protected

Start continoious mode operation from SICK scanner

References data, LMS_send_receive(), and LMScontinous_mode.

Referenced by changeMode(), and isSick().

void USick::enter_installation_mode ( )

protected

Change to installation mode

References LMS_send_receive(), and LMSinstallation_mode.

Referenced by isSick().

unsigned int USick::getCCRC ( unsigned char * CommData )

protected

Set next buffer unlocked and if the result is true advance packsNew to this buffer Test af data pakkerne der modtages fra SICK sensoren (CRC) Der undersoeges om der er fejl paa data pakken Denne funktion er taget fra SICK manualen

References CRC16_GEN_POL, MKSHORT, and TSIZE.

Referenced by addCRC16(), and isSick().

virtual double USick::getDefaultDelay ( )

inlineprotectedvirtual

Get default delat estimate for the device type

here expected to be a bit more than half a scantime (at 75 scans per second)

Reimplemented from ULaserDevice.

char* USick::getDeviceName ( )

inline

Start the receive loop for continous messages Set simulated mode Set scan angle mode (180 or 100 deg) Set scan resolution mode (100, 50 or 25 centi degrees) Get actual scan resolution in centi degrees Get actual scan angle in degrees Get statistics - good count Get statistics - bad count Get statistics - number of good messages per second Get serial device name

References changeMode(), ULaserDevice::devName, getNewestData(), and isPortOpen().

bool USick::getNewestData	(	ULaserData *	dest,
		unsigned long	lastSerial,
		int	fake
	)

virtual

Get the newest data unpacked to this structure. Returns true if valid.

Reimplemented from ULaserDevice.

References ULaserDevice::angleResolution, ULaserData::clear(), ULaserDevice::datalogUsedScans, ULaserDevice::deviceNum, USickData::getDataTo(), ULaserDevice::getFakeScan(), getNewestLocked(), ULaserDevice::isRunning(), ULaserDevice::logThisScan(), ULaserDevice::maxValidRange, ULaserDevice::mirrorData, ULaserDevice::modeAngleScan, ULaserDevice::serial, ULaserData::setAngleResAndStart(), ULaserData::setDeviceNum(), ULaserData::setMaxValidRange(), ULaserData::setMirror(), ULaserData::setSerial(), ULaserData::setValid(), ULaserDevice::start(), ULock::unlock(), and Wait().

Referenced by getDeviceName().

USickData * USick::getNewestLocked ( )

Is sick scanner running Set device name Start sick scanner and grap the data Stop sick scanner port. Stop also thread - if not 'justClosePort'. Get newest data packet

References USickData::isValid(), PACK_BUF_SIZE, packs, packsNew, ULock::tryLock(), and ULock::unlock().

Referenced by getNewestData().

USickData * USick::getNextBuffLocked ( )

protected

Get next buffer that can be locked and return pointer to this

References PACK_BUF_SIZE, packs, packsNew, and ULock::tryLock().

Referenced by isSick(), LMS_send_receive(), and receiveData().

bool USick::isPortOpen ( )

virtual

Is the port to the device open

Reimplemented from ULaserDevice.

References LMS_fd.

Referenced by getDeviceName().

virtual bool USick::isSick ( )

inlinevirtual

Is laserscanner a SICK scanner

References addCRC16(), close_port(), closePort(), enter_continous_mode(), enter_installation_mode(), getCCRC(), getNextBuffLocked(), LMS_send_receive(), open_port(), openPort(), receive_continous_data(), receiveData(), receiveSimulatedData(), request_status(), set_configuration(), set_fast_speed(), set_resolution(), set_serial(), set_slow_speed(), specialCCRC(), stop_continous_mode(), and toLMS().

USickData * USick::LMS_send_receive ( unsigned char * telegram )

protected

Send data to SICK

References ACKSTX, addCRC16(), buf, data, FASTSERIAL_BAUDRATE, getNextBuffLocked(), LMS_fd, NACK, set_serial(), SLOWSERIAL_BAUDRATE, toLMS(), TSIZE, and verbose.

Referenced by enter_continous_mode(), enter_installation_mode(), isSick(), LMS_send_receive(), request_status(), set_configuration(), set_fast_speed(), set_resolution(), set_slow_speed(), and stop_continous_mode().

USickData * USick::LMS_send_receive	(	unsigned char *	telegram,
		int	repeats
	)

protected

Send data to sick, and try up to 'repeat' times for a successfull reply

References data, and LMS_send_receive().

int USick::open_port ( void )

protected

Open serial post

References ULaserDevice::devName, and ULaserDevice::open.

Referenced by isSick(), and openPort().

bool USick::openPort ( )

protectedvirtual

Open serial post. Return true if open(ed)

Reimplemented from ULaserDevice.

References ULaserDevice::angleResolution, bool2str(), changeMode(), LMS_fd, MAX_NAME_LNG, ULaserDevice::modeAngleScan, ULaserDevice::name, and open_port().

Referenced by isSick().

bool USick::receive_continous_data ( int * length )

protected

Get next full package from serial device. Returnes the data length at the given adress 'length'. NB! on entry the length of the previous message must be maintained in length, to discard used data properly. Returns true if data has passed the CRC check.

References byteCnt, LMS_fd, LMS_response_buffer, RECEIVE_BUFFER_SIZE, ULaserDevice::serial, specialCCRC(), ULaserDevice::statBadCnt, and wastedData.

Referenced by isSick(), and receiveData().

bool USick::receiveData ( )

protectedvirtual

Receive data from device – called from device loop, should return as fast as possible after dooing the job, i.e. no blocking read. Should add number of good and bad blocks of data to statBadCnt and statGootcnt. Returns true if data received.

Reimplemented from ULaserDevice.

References byteCnt, data, USickData::getData(), getNextBuffLocked(), ULaserDevice::gotNewScan(), LMS_response_buffer, ULock::lock(), receive_continous_data(), USickData::setTime(), USickData::setValid(), ULaserDevice::statGoodCnt, ULock::unlock(), ULaserDevice::var, and Wait().

Referenced by isSick().

bool USick::receiveSimulatedData ( int * length )

protected

Make a simulated reply - old recording in place of real Sick data Returnes the data length at the given adress 'length'. Returns true if message is valid.

Referenced by isSick().

void USick::request_status ( )

protected

Request status

References LMS_send_receive(), and LMSstatus.

Referenced by isSick().

void USick::set_configuration ( )

protected

Set scanner configuration

References LMS_send_receive(), and LMSset_configuration.

Referenced by isSick().

bool USick::set_fast_speed ( )

protected

change communication speed to fast (500 kbps) NB! this may take some time (< 1 sec)

References data, FASTSERIAL, FASTSERIAL_BAUDRATE, LMS_fd, LMS_send_receive(), LMSset_500k_baud, serialspeed, set_serial(), SLOWSERIAL, SLOWSERIAL_BAUDRATE, and Wait().

Referenced by changeMode(), and isSick().

bool USick::set_resolution	(	int	scanAngleDeg,
		int	resolutionCdeg,
		int	repeats
	)

protectedvirtual

Set resolution to either 1 deg or 0.5 deg. The command is repeated up to 'repeats',waiting for a positive reply. Returns true if successful, otherwise false.

References ULaserDevice::angleResolution, LMS_send_receive(), LMSADR, ULaserDevice::modeAngleScan, and STX.

Referenced by changeMode(), and isSick().