RS4Leuze_laser.h
termios ttyset
termios variable to configure serial port
Definition: RS4Leuze_laser.h:57
#define PLAYER_BUMPER_REQ_GET_GEOM
Data: state (PLAYER_BUMPER_DATA_GEOM)
Definition: player_interfaces.h:1916
uint32_t bumpers_count
the number of valid bumper readings
Definition: player_interfaces.h:1925
uint32_t data_count
Size of data as stored in buffer (bytes)
Definition: player_interfaces.h:3447
#define PLAYER_POWER_MASK_JOULES
Data subtype: voltage.
Definition: player_interfaces.h:284
#define PLAYER_IR_DATA_RANGES
Data subtype: ranges.
Definition: player_interfaces.h:2108
static bool MatchMessage(player_msghdr_t *hdr, int type, int subtype, player_devaddr_t addr)
Helper for message processing.
Definition: message.h:159
Definition: roomba_comms.h:88
Claser implements functions to read data from a laser scanner ROTOSCAN RS4-4 (Leuze corp....
Definition: RS4Leuze_laser.h:52
void openSerial(bool *laser_ON, int Baud_rate, const char *Port)
Opens serial Port and get the default paarameters or those given in the .cfg file.
Definition: RS4Leuze_laser.cc:59
virtual int MainSetup(void)
Sets up the resources needed by the driver thread.
Definition: driver.h:658
virtual void MainQuit(void)
Cleanup method for driver thread (called when main exits)
Definition: driver.h:664
void sync()
sync function synchronizes with the start of the laser data
Definition: RS4Leuze_laser.cc:114
#define PLAYER_IR_REQ_POSE
Request/reply subtype: get pose.
Definition: player_interfaces.h:2102
const char * ReadString(int section, const char *name, const char *value)
Read a string value.
#define PLAYER_POSITION2D_REQ_MOTOR_POWER
Request/reply: Motor power.
Definition: player_interfaces.h:496
#define PLAYER_POWER_DATA_STATE
Data subtype: voltage.
Definition: player_interfaces.h:274
#define PLAYER_POWER_MASK_VOLTS
bit masks for the player_power_data_t mask field
Definition: player_interfaces.h:282
#define PLAYER_POSITION2D_CMD_VEL
Command: velocity (PLAYER_POSITION2D_CMD_VEL)
Definition: player_interfaces.h:581
#define PLAYER_POWER_MASK_WATTS
Data subtype: voltage.
Definition: player_interfaces.h:283
#define PLAYER_OPAQUE_DATA_STATE
Data subtype: generic state.
Definition: player_interfaces.h:3429
#define PLAYER_MSGTYPE_RESP_ACK
A positive response message.
Definition: player.h:112
#define PLAYER_GRIPPER_CMD_OPEN
Command: Open (PLAYER_GRIPPER_CMD_OPEN)
Definition: player_interfaces.h:373
#define PLAYER_OPAQUE_REQ
Data subtype: generic state.
Definition: player_interfaces.h:3440
#define PLAYER_POSITION2D_REQ_GET_GEOM
Request/reply: geometry.
Definition: player_interfaces.h:483
virtual int ProcessMessage(QueuePointer &resp_queue, player_msghdr *hdr, void *data)
Message handler.
bool ReadBool(int section, const char *name, bool value)
Read a boolean value (one of: yes, no, true, false, 1, 0)
#define PLAYER_OPAQUE_CMD
Data subtype: generic state.
Definition: player_interfaces.h:3441
float watts
estimated current energy consumption (negative values) or aquisition (positive values) [W].
Definition: player_interfaces.h:306
Definition: RS4Leuze_laser.h:44
int ReadDeviceAddr(player_devaddr_t *addr, int section, const char *name, int code, int index, const char *key)
Read a device id.
#define PLAYER_BUMPER_DATA_STATE
Data: state (PLAYER_BUMPER_DATA_GEOM)
Definition: player_interfaces.h:1910
int32_t charging
charge exchange status: if 1, the device is currently receiving charge from another energy device.
Definition: player_interfaces.h:311
#define PLAYER_CAPABILITIES_REQ
Capability request message type.
Definition: player.h:397
#define PLAYER_POSITION2D_REQ_RESET_ODOM
Request/reply: Reset odometry.
Definition: player_interfaces.h:541
uint8_t * bumpers
array of bumper values
Definition: player_interfaces.h:1927
#define PLAYER_POWER_MASK_CHARGING
Data subtype: voltage.
Definition: player_interfaces.h:286
void runLaser()
Return the scan reading from the laser.
Definition: RS4Leuze_laser.cc:219
uint8_t stored
Number of currently stored objects.
Definition: player_interfaces.h:425
uint32_t ranges_count
number of samples
Definition: player_interfaces.h:2122
#define PLAYER_GRIPPER_CMD_CLOSE
Command: Close (PLAYER_GRIPPER_CMD_CLOSE)
Definition: player_interfaces.h:378
#define PLAYER_POSITION2D_DATA_STATE
Data: state (PLAYER_POSITION2D_DATA_STATE)
Definition: player_interfaces.h:568
float percent
Percent of full charge [%].
Definition: player_interfaces.h:301
player_pose2d_t pos
position [m,m,rad] (x, y, yaw)
Definition: player_interfaces.h:609
uint32_t beams
The position of the object in the gripper.
Definition: player_interfaces.h:423
#define PLAYER_POWER_MASK_PERCENT
Data subtype: voltage.
Definition: player_interfaces.h:285
#define PLAYER_GRIPPER_DATA_STATE
Data subtype: state.
Definition: player_interfaces.h:365
int scanRead()
reads one scan and puts it in scanData array
Definition: RS4Leuze_laser.cc:131
uint8_t stall
Are the motors stalled?
Definition: player_interfaces.h:613
unsigned char readByte()
Reads one byte and updates checksum message.
Definition: RS4Leuze_laser.cc:103
#define PLAYER_MSGQUEUE_DEFAULT_MAXLEN
Default maximum length for a message queue.
Definition: player.h:76
#define PLAYER_POSITION2D_REQ_SET_ODOM
Request/reply: Set odometry.
Definition: player_interfaces.h:535
uint8_t * data
The data we will be sending.
Definition: player_interfaces.h:3449