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sickdefines.h
00001 /* 00002 * Orca-Robotics Project: Components for robotics 00003 * http://orca-robotics.sf.net/ 00004 * Copyright (c) 2004-2008 Alex Brooks, Alexei Makarenko, Tobias Kaupp 00005 * 00006 * This distribution is licensed to you under the terms described in 00007 * the LICENSE file included in this distribution. 00008 * 00009 */ 00010 /* AlexB: This code was forked from CARMEN then overhauled */ 00011 /* Tobi: Modified to make it work for 500kbps over RS422 */ 00012 00013 #ifndef SICKDEFINES_H 00014 #define SICKDEFINES_H 00015 00016 #include <string> 00017 #include <assert.h> 00018 00019 #define LASER_BUFFER_SIZE 100000 00020 00021 #define CRC16_GEN_POL 0x8005 00022 #define CRC16_GEN_POL0 0x80 00023 #define CRC16_GEN_POL1 0x05 00024 00025 #define LMS_PASSWORD "SICK_LMS" 00026 #define PLS_PASSWORD "SICK_PLS" 00027 00028 #define BUFFER_SIZE 16000 00029 #define MAX_COMMAND_SIZE 8196 00030 #define MAX_NAME_LENGTH 256 00031 00032 #define MAX_TIME_FOR_CLEAR 0.2 00033 #define MAX_TIME_FOR_DATA 0.3 00034 #define MAX_TIME_FOR_ACK 0.1 00035 #define MAX_TIME_FOR_ANSWER 0.1 00036 #define MAX_TIME_FOR_SENSOR_DATA 0.5 00037 // Tobi: changed MAX_TIME_FOR_CONFIG from 3.0 to 5.0 so that sick_set_config_mode() 00038 // could change from 500kbps to the slower baud rates 00039 #define MAX_TIME_FOR_CONFIG 5.0 00040 #define MAX_TIME_FOR_GETTING_CONF 0.3 00041 #define MAX_TIME_FOR_TESTING_BAUDRATE 1.0 00042 00043 #define INI -1 00044 #define TIO 0 00045 #define STX 0x02 00046 #define UKN 0x05 00047 #define ACK 0x06 00048 #define DLE 0x10 00049 #define NAK 0x15 00050 #define LID 0x80 00051 00052 #define RES_1_00_DEGREE 0 00053 #define RES_0_50_DEGREE 1 00054 #define RES_0_25_DEGREE 2 00055 00056 #ifndef TIOCGETP 00057 #define TIOCGETP 0x5481 00058 #define TIOCSETP 0x5482 00059 #define RAW 1 00060 #define CBREAK 64 00061 #endif 00062 00063 typedef enum { PLS, LMS } laser_model_t; 00064 typedef enum { CM, MM, DM } range_res_t; 00065 typedef enum { RANGE80M, RANGE160M, RANGE320M } range_dist_t; 00066 typedef enum { N, E, O } parity_t; 00067 00068 class laser_device_t { 00069 public: 00070 int fd; 00071 laser_model_t type; 00072 std::string ttyport; 00073 int baudrate; 00074 parity_t parity; 00075 std::string passwd; 00076 int databits; 00077 int stopbits; 00078 int hwf; 00079 int swf; 00080 int laser_num; 00081 }; 00082 00083 typedef laser_device_t *laser_device_p; 00084 00085 class laser_settings_t { 00086 public: 00087 00088 // May throw std::strings on dodgy settings. 00089 laser_settings_t( const char *device, 00090 const char *laserType, // eg "LMS" 00091 int baudrate, 00092 double resolutionInDegrees, 00093 range_res_t rangeResolution ); 00094 00095 std::string device_name; 00096 laser_model_t type; 00097 range_res_t range_res; 00098 range_dist_t range_dist; 00099 std::string password; 00100 int laser_num; 00101 int detect_baudrate, use_highspeed; 00102 int start_baudrate, set_baudrate; 00103 int databits, stopbits; 00104 parity_t parity; 00105 int swf, hwf; 00106 int angle_range, angle_resolution; 00107 int num_values; 00108 int laser_flipped; 00109 00110 // Throws std::strings if something's fucked up 00111 void checkValid() const; 00112 00113 // for debugging 00114 void print() const; 00115 }; 00116 00117 #endif
