CSickLaserSerial.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

// This file contains portions of code from sicklms200.cc from the Player/Stage
// project.

#include "hwdrivers-precomp.h"  // Precompiled headers

#include <mrpt/system/CTicTac.h>
#include <mrpt/system/crc.h>
#include <mrpt/system/os.h>

#include <mrpt/hwdrivers/CSickLaserSerial.h>

IMPLEMENTS_GENERIC_SENSOR(CSickLaserSerial, mrpt::hwdrivers)

#define RET_ERROR(msg)                                                   \
    {                                                                    \
        cout << "[" << __CURRENT_FUNCTION_NAME__ << "] " << msg << endl; \
        return false;                                                    \
    }

using namespace std;
using namespace mrpt;
using namespace mrpt::comms;
using namespace mrpt::obs;
using namespace mrpt::poses;
using namespace mrpt::math;
using namespace mrpt::hwdrivers;
using namespace mrpt::system;

int CSickLaserSerial::CRC16_GEN_POL = 0x8005;

/*-------------------------------------------------------------
                        CSickLaserSerial
-------------------------------------------------------------*/
CSickLaserSerial::CSickLaserSerial() : m_com_port()

{
    m_sensorLabel = "SICKLMS";
    memset(m_received_frame_buffer, 0, sizeof(m_received_frame_buffer));
}

/*-------------------------------------------------------------
                        ~CSickLaserSerial
-------------------------------------------------------------*/
CSickLaserSerial::~CSickLaserSerial()
{
    if (m_stream)
    {
        try
        {
            if (!m_skip_laser_config)
            {
                LMS_endContinuousMode();
            }
        }
        catch (...)
        {
        }
    }
}

/*-------------------------------------------------------------
                        doProcessSimple
-------------------------------------------------------------*/
void CSickLaserSerial::doProcessSimple(
    bool& outThereIsObservation,
    mrpt::obs::CObservation2DRangeScan& outObservation, bool& hardwareError)
{
    outThereIsObservation = false;
    hardwareError = false;

    if (!tryToOpenComms())
    {
        hardwareError = true;
        return;
    }

    vector<float> ranges;
    unsigned char LMS_stat;
    bool is_mm_mode;

    m_state = ssWorking;

    // Wait for a scan:
    if (!waitContinuousSampleFrame(ranges, LMS_stat, is_mm_mode))
    {
        if (!internal_notifyNoScanReceived())
        {
            hardwareError = true;
        }
        return;
    }

    // Yes, we have a new scan:

    // -----------------------------------------------
    //   Extract the observation:
    // -----------------------------------------------
    outObservation.timestamp = mrpt::system::now();

    outObservation.sensorLabel = m_sensorLabel;  // Set label

    // Extract the timestamp of the sensor:

    // And the scan ranges:
    outObservation.rightToLeft = true;
    outObservation.aperture = M_PIf;
    outObservation.maxRange = is_mm_mode ? 32.7 : 81.0;
    outObservation.stdError = 0.003f;
    outObservation.sensorPose = mrpt::poses::CPose3D(m_sensorPose);

    outObservation.resizeScan(ranges.size());

    for (size_t i = 0; i < ranges.size(); i++)
    {
        outObservation.setScanRange(i, ranges[i]);
        outObservation.setScanRangeValidity(
            i, (outObservation.getScanRange(i) <= outObservation.maxRange));
    }

    // Do filter:
    C2DRangeFinderAbstract::filterByExclusionAreas(outObservation);
    C2DRangeFinderAbstract::filterByExclusionAngles(outObservation);
    // Do show preview:
    C2DRangeFinderAbstract::processPreview(outObservation);

    outThereIsObservation = true;
    internal_notifyGoodScanNow();
}

/*-------------------------------------------------------------
                        loadConfig_sensorSpecific
-------------------------------------------------------------*/
void CSickLaserSerial::loadConfig_sensorSpecific(
    const mrpt::config::CConfigFileBase& configSource,
    const std::string& iniSection)
{
    m_sensorPose = TPose3D(
        configSource.read_float(iniSection, "pose_x", 0),
        configSource.read_float(iniSection, "pose_y", 0),
        configSource.read_float(iniSection, "pose_z", 0),
        DEG2RAD(configSource.read_float(iniSection, "pose_yaw", 0)),
        DEG2RAD(configSource.read_float(iniSection, "pose_pitch", 0)),
        DEG2RAD(configSource.read_float(iniSection, "pose_roll", 0)));

    m_mm_mode = configSource.read_bool(iniSection, "mm_mode", m_mm_mode);

#ifdef _WIN32
    m_com_port =
        configSource.read_string(iniSection, "COM_port_WIN", m_com_port, true);
#else
    m_com_port =
        configSource.read_string(iniSection, "COM_port_LIN", m_com_port, true);
#endif

    m_com_baudRate =
        configSource.read_int(iniSection, "COM_baudRate", m_com_baudRate);
    m_nTries_connect =
        configSource.read_int(iniSection, "nTries_connect", m_nTries_connect);

    m_scans_FOV = configSource.read_int(iniSection, "FOV", m_scans_FOV);
    m_scans_res = configSource.read_int(iniSection, "resolution", m_scans_res);

    m_skip_laser_config = configSource.read_bool(
        iniSection, "skip_laser_config", m_skip_laser_config);

    // Parent options:
    C2DRangeFinderAbstract::loadCommonParams(configSource, iniSection);
}

/*-------------------------------------------------------------
                        turnOn
-------------------------------------------------------------*/
bool CSickLaserSerial::turnOn() { return true; }
/*-------------------------------------------------------------
                        turnOff
-------------------------------------------------------------*/
bool CSickLaserSerial::turnOff() { return true; }
/*-------------------------------------------------------------
 Tries to open the com port and setup
 all the LMS protocol. Returns true if OK or already open.
-------------------------------------------------------------*/
bool CSickLaserSerial::tryToOpenComms(std::string* err_msg)
{
    if (err_msg) *err_msg = "";
    try
    {
        if (!m_stream)
        {
            ASSERT_(m_mySerialPort == nullptr);

            // There is no COMMS port open yet...
            if (!m_com_port.empty())
            {
                // Create the port myself:
                m_mySerialPort = std::make_shared<CSerialPort>();
                m_stream = std::shared_ptr<mrpt::io::CStream>(m_mySerialPort);
            }
            else
                throw std::logic_error(
                    "ERROR: No serial port attached with bindIO, neither it "
                    "set with 'setSerialPort'");
        }

        // We assure now we have a stream... try to open it, if it's not done
        // yet.
        bool just_open = false;
        auto* COM = dynamic_cast<CSerialPort*>(m_stream.get());
        if (COM != nullptr)
        {
            if (!COM->isOpen())
            {
                // Try to open it now:
                COM->setSerialPortName(m_com_port);
                COM->open();  // will raise an exception on error.

                // Set basic params:
                COM->setConfig(9600);
                COM->setTimeouts(100, 0, 10, 0, 50);

                just_open = true;
            }
        }

        // It seems the port was open and working so we are done here.
        if (!just_open) return true;

        // ==================================================================
        // Otherwise, it was just opened now, we must send the
        //  ** initialization commands **
        // and put the laser in continuous measuring mode:
        // ==================================================================
        if (!m_skip_laser_config)
        {
            if (!LMS_setupSerialComms()) RET_ERROR("error");

            bool res;
            for (int nTry = 0; nTry < 4; nTry++)
                if (true == (res = LMS_sendMeasuringMode_cm_mm())) break;

            if (!res) return false;

            for (int nTry = 0; nTry < 4; nTry++)
                if (true == (res = LMS_startContinuousMode())) break;

            return res;
        }
        else
        {
            // Skip setup:
            return true;
        }
    }
    catch (const std::exception& e)
    {
        std::string s = "[CSickLaserSerial] Error trying to open SICK at port ";
        s += e.what();
        if (err_msg) *err_msg = s;
        MRPT_LOG_ERROR(s);
        return false;
    }
}

/*-------------------------------------------------------------
                    waitContinuousSampleFrame
-------------------------------------------------------------*/
bool CSickLaserSerial::waitContinuousSampleFrame(
    vector<float>& out_ranges_meters, unsigned char& LMS_status,
    bool& is_mm_mode)
{
    auto* COM = dynamic_cast<CSerialPort*>(m_stream.get());
    ASSERTMSG_(COM != nullptr, "No I/O channel bound to this object");

    size_t nRead, nBytesToRead;
    size_t nFrameBytes = 0;
    size_t lengthField;
    unsigned char buf[2000];
    buf[2] = buf[3] = buf[4] = 0;

    while (nFrameBytes < (lengthField = (6 + (buf[2] | (buf[3] << 8)))))
    {
        if (lengthField > 800)
        {
            cout << "#";
            nFrameBytes = 0;  // No es cabecera de trama correcta
            buf[2] = buf[3] = 0;
        }

        if (nFrameBytes < 4)
            nBytesToRead = 1;
        else
            nBytesToRead = (lengthField)-nFrameBytes;

        try
        {
            nRead = COM->Read(buf + nFrameBytes, nBytesToRead);
        }
        catch (const std::exception& e)
        {
            // Disconnected?
            MRPT_LOG_ERROR_FMT(
                "[CSickLaserSerial::waitContinuousSampleFrame] Disconnecting "
                "due to comms error: %s\n",
                e.what());
            // m_usbConnection->Close();
            return false;
        }

        if (!nRead && !nFrameBytes) return false;

        if (nRead < nBytesToRead) std::this_thread::sleep_for(1ms);

        // Lectura OK:
        // Era la primera?
        if (nFrameBytes > 1 || (!nFrameBytes && buf[0] == 0x02) ||
            (nFrameBytes == 1 && buf[1] == 0x80))
        {
            nFrameBytes += nRead;
        }
        else
        {
            nFrameBytes = 0;  // No es cabecera de trama correcta
            buf[2] = buf[3] = 0;
            // cerr << "."; //"[CSickLaserSerial] Skipping non-header..." <<
            // endl;
        }
    }

    // Frame received
    // --------------------------------------------------------------------------
    // | STX | ADDR | L1 | L2 | COM | INF1 | INF2 | DATA    | STA | CRC1 | CRC2
    // |
    // --------------------------------------------------------------------------

    // Trama completa:
    //  Checkear que el byte de comando es 0xB0:
    if (buf[4] != 0xB0) return false;

    // GET FRAME INFO
    int info = buf[5] | (buf[6] << 8);  // Little Endian
    int n_points = info & 0x01FF;
    is_mm_mode = 0 != ((info & 0xC000) >> 14);  // 0x00: cm 0x01: mm

    out_ranges_meters.resize(n_points);

    // Copiar rangos:
    short mask = is_mm_mode ? 0x7FFF : 0x1FFF;
    float meters_scale = is_mm_mode ? 0.001f : 0.01f;

    for (int i = 0; i < n_points; i++)
        out_ranges_meters[i] =
            ((buf[7 + i * 2] | (buf[8 + i * 2] << 8)) & mask) * meters_scale;

    // Status
    LMS_status = buf[lengthField - 3];

    // CRC:
    uint16_t CRC =
        mrpt::system::compute_CRC16(buf, lengthField - 2, CRC16_GEN_POL);
    uint16_t CRC_packet = buf[lengthField - 2] | (buf[lengthField - 1] << 8);
    if (CRC_packet != CRC)
    {
        cerr << format(
                    "[CSickLaserSerial::waitContinuousSampleFrame] bad CRC "
                    "len=%u nptns=%u: %i != %i",
                    unsigned(lengthField), unsigned(n_points), CRC_packet, CRC)
             << endl;
        return false;  // Bad CRC
    }

    // All OK
    return true;
}

/*-------------------------------------------------------------
                        initialize
-------------------------------------------------------------*/
void CSickLaserSerial::initialize()
{
    string err_str;
    memset(m_received_frame_buffer, 0, sizeof(m_received_frame_buffer));
    if (!tryToOpenComms(&err_str))
    {
        cerr << err_str << endl;
        throw std::logic_error(err_str);
    }
}

/*-----------------------------------------------------------------
    Assures laser is connected and operating at 38400, in
     its case returns true.
  -----------------------------------------------------------------*/
bool CSickLaserSerial::LMS_setupSerialComms()
{
    ASSERT_(
        m_com_baudRate == 9600 || m_com_baudRate == 38400 ||
        m_com_baudRate == 500000);

    auto* COM = dynamic_cast<CSerialPort*>(m_stream.get());
    if (COM == nullptr) return true;

    int detected_rate = 0;
    for (size_t reps = 0; !detected_rate && reps < m_nTries_connect; reps++)
    {
        m_nTries_current = reps;

        int rates[] = {0, 9600, 38400, 500000};

        // Try first the desired rate to speed up the process, just in case
        //  the laser is already setup from a previous run:
        rates[0] = m_com_baudRate;

        detected_rate = 0;

        for (size_t i = 0;
             !detected_rate && i < sizeof(rates) / sizeof(rates[0]); i++)
        {
            // Are we already receiving at 500k?
            // ------------------------------------------------
            COM->setConfig(rates[i]);
            if (m_verbose)
                printf(
                    "[CSickLaserSerial] Testing if the scanner is "
                    "set to %i bauds...\n",
                    rates[i]);

            LMS_endContinuousMode();  // Stop continuous mode.
            std::this_thread::sleep_for(100ms);
            COM->purgeBuffers();

            for (int nTry = 0; nTry < 4 && !detected_rate; nTry++)
            {
                COM->purgeBuffers();
                // Ask for the laser status at the current rate:
                if (LMS_statusQuery())
                {
                    detected_rate = rates[i];
                    break;
                }
                std::this_thread::sleep_for(20ms);
            }  // for tries
            // There is no link, or the baudrate is wrong...
        }

        // Try again in a while:
        if (!detected_rate && reps != (m_nTries_connect - 1))
            std::this_thread::sleep_for(5000ms);
    }

    // Are we connected at the right rate?
    if (detected_rate == m_com_baudRate) return true;

    // Switch to the desired rate now
    if (!this->LMS_setupBaudrate(m_com_baudRate)) RET_ERROR("error");

    // Check response is OK:
    if (!(m_received_frame_buffer[2] == 0x03 &&
          m_received_frame_buffer[4] == 0xA0 &&
          m_received_frame_buffer[6] == 0x10))
        return false;

    COM->setConfig(m_com_baudRate);
    COM->purgeBuffers();

    // Wait...
    std::this_thread::sleep_for(500ms);

    // And check comms at the new baud rate:
    return LMS_statusQuery();
}

/*-----------------------------------------------------------------
 Query to LMS a baudrate change command.
   Returns true if response is read ok.
  -----------------------------------------------------------------*/
bool CSickLaserSerial::LMS_setupBaudrate(int baud)
{
    ASSERT_(m_stream);
    if (m_verbose)
        printf("[CSickLaserSerial::LMS_setupBaudrate] rate=%i\n", baud);

    uint8_t cmd[4];
    cmd[0] = 0x20;
    switch (baud)
    {
        case 9600:
            cmd[1] = 0x42;
            break;
        case 19200:
            cmd[1] = 0x41;
            break;
        case 38400:
            cmd[1] = 0x40;
            break;
        case 500000:
            cmd[1] = 0x48;
            break;
        default:
            THROW_EXCEPTION("Invalid baud rate value");
    }

    uint16_t cmd_len = 2;

    if (!SendCommandToSICK(cmd, cmd_len)) return false;
    return LMS_waitIncomingFrame(500);
}

/*-----------------------------------------------------------------
  Query to LMS a status query.
   Returns true if response is read ok.
  -----------------------------------------------------------------*/
bool CSickLaserSerial::LMS_statusQuery()
{
    ASSERT_(m_stream);

    uint8_t cmd[1];
    cmd[0] = 0x31;
    uint16_t cmd_len = 1;

    if (!SendCommandToSICK(cmd, cmd_len)) return false;
    return LMS_waitIncomingFrame(500);
}

// Returns false if timeout
bool CSickLaserSerial::LMS_waitACK(uint16_t timeout_ms)
{
    auto* COM = dynamic_cast<CSerialPort*>(m_stream.get());
    ASSERT_(COM);

    uint8_t b = 0;
    CTicTac tictac;
    tictac.Tic();

    do
    {
        if (COM->Read(&b, 1))
        {  // Byte rx:
            if (b == 0x06) return true;
        }
    } while (tictac.Tac() < timeout_ms * 1e-3);

    if (b == 0x15)
        RET_ERROR("NACK received.")
    else if (b != 0)
        RET_ERROR(format("Unexpected code received: 0x%02X", b))
    else
        return false;  // RET_ERROR("Timeout")
}

// Returns false if timeout
bool CSickLaserSerial::LMS_waitIncomingFrame(uint16_t timeout)
{
    auto* COM = dynamic_cast<CSerialPort*>(m_stream.get());
    ASSERT_(COM);

    uint8_t b;
    unsigned int nBytes = 0;

    CTicTac tictac;
    tictac.Tic();
    const double maxTime = timeout * 1e-3;

    while (nBytes < 6 ||
           (nBytes < (6U + m_received_frame_buffer[2] +
                      (uint16_t)(m_received_frame_buffer[3] << 8))))
    {
        if (COM->Read(&b, 1))
        {
            // First byte must be STX:
            if (nBytes > 1 || (!nBytes && b == 0x02) ||
                (nBytes == 1 && b == 0x80))
            {
                // Store in frame:
                m_received_frame_buffer[nBytes] = b;
                nBytes++;
                if (m_verbose)
                {
                    printf("[CSickLaserSerial::Receive] RX: %02X\n", b);
                }
            }
        }
        if (tictac.Tac() >= maxTime) return false;  // Timeout
    }

    const uint16_t lengthField =
        m_received_frame_buffer[2] + (m_received_frame_buffer[3] << 8);
    // Check len:
    if (4U + lengthField + 2U != nBytes)
    {
        printf(
            "[CSickLaserSerial::LMS_waitIncomingFrame] Error: expected %u "
            "bytes, received %u\n",
            4U + lengthField + 2U, nBytes);
        return false;
    }

    // Check CRC
    uint16_t CRC = mrpt::system::compute_CRC16(
        m_received_frame_buffer, 4 + lengthField, CRC16_GEN_POL);
    uint16_t CRC_packet = m_received_frame_buffer[4 + lengthField + 0] |
                          (m_received_frame_buffer[4 + lengthField + 1] << 8);
    if (CRC_packet != CRC)
    {
        printf(
            "[CSickLaserSerial::LMS_waitIncomingFrame] Error in CRC: rx: "
            "0x%04X, computed: 0x%04X\n",
            CRC_packet, CRC);
        return false;
    }

#if 0
    printf("RX: ");
    for (unsigned int i=0;i<nBytes;i++)
        printf("%02X ",m_received_frame_buffer[i]);
    printf("\n");
#endif

    // OK
    return true;
}

bool CSickLaserSerial::LMS_sendMeasuringMode_cm_mm()
{
    auto* COM = dynamic_cast<CSerialPort*>(m_stream.get());
    ASSERT_(COM);

    // **************************
    // Send command: Switch to Installation mode
    // **************************
    uint8_t cmd[128];  // =
    // {0x02,0x00,0x0A,0x00,0x20,0x00,0x53,0x49,0x43,0x4B,0x5F,0x4C,0x4D,0x53,0xBE,0xC5};
    cmd[0] = 0x20; /* mode change command */
    cmd[1] = 0x00; /* configuration mode */
    cmd[2] = 0x53;  // S - the password
    cmd[3] = 0x49;  // I
    cmd[4] = 0x43;  // C
    cmd[5] = 0x4B;  // K
    cmd[6] = 0x5F;  // _
    cmd[7] = 0x4C;  // L
    cmd[8] = 0x4D;  // M
    cmd[9] = 0x53;  // S

    uint16_t cmd_len = 10;
    if (!SendCommandToSICK(cmd, cmd_len))
        RET_ERROR("Error waiting ACK to installation mode");
    if (!LMS_waitIncomingFrame(500))
        RET_ERROR("Error in response to installation mode");

    // Check response
    if (!(m_received_frame_buffer[4] == 0xA0 &&
          m_received_frame_buffer[5] == 0x00))
        RET_ERROR("Wrong response to installation mode");

    // **************************
    // Request LMS Configuration
    // **************************
    cmd[0] = 0x74;
    cmd_len = 1;

    if (!SendCommandToSICK(cmd, cmd_len))
        RET_ERROR("No ACK to 0x74 (req. config)");
    if (!LMS_waitIncomingFrame(500))
        RET_ERROR("No answer to 0x74 (req. config)");

    // 2. Check response
    if (m_received_frame_buffer[4] != 0xF4)
        RET_ERROR("No expected 0xF4 in response to 0x74 (req. config)");

    // ***********************************************************************
    // Configure 1/2: Measuremente Range, Measurement Unit, Master/Slave Role
    // ***********************************************************************
    // 4.a Modify some values...

    // Measuring mode: Measurement range 32m in mm mode, or 80m+reflectance info
    // in cm mode.
    // See page 98 in LMS2xx_list_datagrams.pdf.
    m_received_frame_buffer[10] = this->m_mm_mode ? 0x06 : 0x00;
    m_received_frame_buffer[11] = this->m_mm_mode ? 0x01 : 0x00;

    // 4.2 Build the output command
    m_received_frame_buffer[1] = 0x00;  // Address
    m_received_frame_buffer[2] = 0x23;  // Length (low byte)
    m_received_frame_buffer[3] = 0x00;  // Length (high byte)
    m_received_frame_buffer[4] = 0x77;  // Configure command

    memcpy(cmd, m_received_frame_buffer + 4, 0x23);
    cmd_len = 0x23;

    // 4.4 Send to the LMS
    if (!SendCommandToSICK(cmd, cmd_len))
        RET_ERROR("No ACK for config command (0x77)");
    if (!LMS_waitIncomingFrame(600))
        RET_ERROR("No answer for config command (0x77)");

    if (!(m_received_frame_buffer[4] == 0xF7 &&
          m_received_frame_buffer[5] == 0x01))
        RET_ERROR("Wrong answer for config command (0x77)");

    // **************************
    // Switch to Monitoring mode
    // **************************
    cmd[0] = 0x20;
    cmd[1] = 0x25;
    cmd_len = 2;
    if (!SendCommandToSICK(cmd, cmd_len))
        RET_ERROR("No ACK for set monitoring mode");
    if (!LMS_waitIncomingFrame(500))
        RET_ERROR("No answer for set monitoring mode");

    if (!(m_received_frame_buffer[4] == 0xA0 &&
          m_received_frame_buffer[5] == 0x00))
        RET_ERROR("Wrong answer for set monitoring mode");

    // All ok.
    return true;
}

/*-----------------------------------------------------------------
  Start continuous mode measurements.
   Returns true if response is read ok.
  -----------------------------------------------------------------*/
bool CSickLaserSerial::LMS_startContinuousMode()
{
    ASSERT_(m_scans_FOV == 100 || m_scans_FOV == 180);
    ASSERT_(m_scans_res == 25 || m_scans_res == 50 || m_scans_res == 100);

    auto* COM = dynamic_cast<CSerialPort*>(m_stream.get());
    ASSERT_(COM);

    uint8_t cmd[40];

    // Config angle/resolution
    cmd[0] = 0x3B;
    cmd[1] = m_scans_FOV;
    cmd[2] = 0x00;
    cmd[3] = m_scans_res;  // 25,50 or 100 -  1/100th of deg
    cmd[4] = 0x00;
    uint16_t cmd_len = 5;
    if (!SendCommandToSICK(cmd, cmd_len))
        RET_ERROR("Error waiting ack for change angle/resolution");
    if (!LMS_waitIncomingFrame(500))
        RET_ERROR("Error waiting answer for change angle/resolution");

    // Start continuous mode:
    cmd[0] = 0x20;
    cmd[1] = 0x24;
    cmd_len = 2;
    if (!SendCommandToSICK(cmd, cmd_len))
        RET_ERROR("Error waiting ack for start scanning");
    if (!LMS_waitIncomingFrame(500))
        RET_ERROR("Error waiting answer for start scanning");

    return true;
}

bool CSickLaserSerial::LMS_endContinuousMode()
{
    auto* COM = dynamic_cast<CSerialPort*>(m_stream.get());
    ASSERT_(COM);

    uint8_t cmd[40];

    // End continuous mode:
    cmd[0] = 0x20;
    cmd[1] = 0x25;
    uint16_t cmd_len = 2;
    if (!SendCommandToSICK(cmd, cmd_len)) return false;
    return LMS_waitIncomingFrame(50);
}

bool CSickLaserSerial::SendCommandToSICK(
    const uint8_t* cmd, const uint16_t cmd_len)
{
    uint8_t cmd_full[1024];
    ASSERT_(sizeof(cmd_full) > cmd_len + 4U + 2U);

    auto* COM = dynamic_cast<CSerialPort*>(m_stream.get());
    ASSERT_(COM);

    // Create header
    cmd_full[0] = 0x02;  // STX
    cmd_full[1] = 0;  // ADDR
    cmd_full[2] = cmd_len & 0xFF;
    cmd_full[3] = cmd_len >> 8;

    memcpy(cmd_full + 4, cmd, cmd_len);

    const uint16_t crc =
        mrpt::system::compute_CRC16(cmd_full, 4 + cmd_len, CRC16_GEN_POL);
    cmd_full[4 + cmd_len + 0] = crc & 0xFF;
    cmd_full[4 + cmd_len + 1] = crc >> 8;

    const size_t toWrite = 4 + cmd_len + 2;

    if (m_verbose)
    {
        printf("[CSickLaserSerial::SendCommandToSICK] TX: ");
        for (unsigned int i = 0; i < toWrite; i++) printf("%02X ", cmd_full[i]);
        printf("\n");
    }

    const int NTRIES = 3;

    for (int k = 0; k < NTRIES; k++)
    {
        if (toWrite != COM->Write(cmd_full, toWrite))
        {
            cout << "[CSickLaserSerial::SendCommandToSICK] Error writing data "
                    "to serial port."
                 << endl;
            return false;
        }
        std::this_thread::sleep_for(15ms);
        if (LMS_waitACK(50)) return true;
        std::this_thread::sleep_for(10ms);
    }

    return false;
}