11 #ifndef GBX_SICK_ACFR_H
12 #define GBX_SICK_ACFR_H
14 #include <gbxsickacfr/serialhandler.h>
15 #include <gbxutilacfr/tracer.h>
16 #include <gbxutilacfr/status.h>
27 std::string toString() const;
28 bool operator==( const Config & other );
29 bool operator!=( const Config & other );
56 unsigned char *intensities;
92 bool waitForRxMsgType( uChar type, TimedLmsRxMsg &rxMsg, int maxWaitMs );
95 bool waitForAckOrNack( bool &receivedAck );
97 LmsRxMsgPtr askLaserForStatusData();
98 LmsRxMsgPtr askLaserForConfigData();
100 LmsConfigurationData desiredConfiguration();
101 bool isAsDesired( const LmsConfigurationData &lmsConfig );
103 int guessLaserBaudRate();
108 TimedLmsRxMsg sendAndExpectRxMsg( const std::vector<uChar> &commandAndData,
109 bool ignoreErrorConditions= false );
111 std::string errorConditions();
113 uChar desiredMeasuredValueUnit();
114 uint16_t desiredAngularResolution();
116 void setBaudRate( int baudRate );
120 std::auto_ptr<SerialHandler> serialHandler_;
122 std::vector<uChar> commandAndData_;
123 std::vector<uChar> telegramBuffer_;
Data structure returned by read() Definition: gbxsickacfr/driver.h:49
int numberOfSamples number of samples in a scan Definition: gbxsickacfr/driver.h:44
Configuration structure. Definition: gbxsickacfr/driver.h:23
void read(Data &data) Definition: gbxsickacfr/driver.cpp:574
double fieldOfView field of viewe [rad] Definition: gbxsickacfr/driver.h:40
double maxRange maximum range [m] Definition: gbxsickacfr/driver.h:38
std::string device Serial device. e.g. "/dev/ttyS0". Definition: gbxsickacfr/driver.h:32
std::string warnings if 'haveWarnings' is set, 'warnings' will contain diagnostic information. Definition: gbxsickacfr/driver.h:61
int baudRate Baud rate. Definition: gbxsickacfr/driver.h:34
Driver(const Config &config, gbxutilacfr::Tracer &tracer, gbxutilacfr::Status &status) Definition: gbxsickacfr/driver.cpp:116
SICK driver. Definition: gbxsickacfr/driver.h:66
Local interface to component status. Definition: status.h:254
double minRange minimum range [m] Definition: gbxsickacfr/driver.h:36
double startAngle starting angle [rad] Definition: gbxsickacfr/driver.h:42
|