class mrpt::hwdrivers::CSickLaserUSB

This “software driver” implements the communication protocol for interfacing a SICK LMS2XX laser scanners through a custom USB RS-422 interface board.

NOTE that this class is for a custom hardware built at our lab (MAPIR, University of Malaga). For a generic serial interface, see the class CSickLaserSerial.

This class does not need to be bind, i.e. you do not need to call C2DRangeFinderAbstract::bindIO. However, calling it will have not effect. In this class the “bind” is ignored since it is designed for USB connections only, thus it internally generate the required object for simplicity of use. The serial number of the USB device is used to open it on the first call to “doProcess”, thus you must call “loadConfig” before this, or manually call “setDeviceSerialNumber”. The default serial number is “LASER001”

Warning: Avoid defining an object of this class in a global scope if you want to catch all potential exceptions during the constructors (like USB interface DLL not found, etc…)

 PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
-------------------------------------------------------
  [supplied_section_name]
  SICKUSB_serialNumber=LASER001
  pose_x=0.21   ; Laser range scaner 3D position in the robot (meters)
  pose_y=0
  pose_z=0.34
  pose_yaw=0    ; Angles in degrees
  pose_pitch=0
  pose_roll=0
   //preview = true // Enable GUI visualization of captured data

   // Optional: Exclusion zones to avoid the robot seeing itself:
   //exclusionZone1_x = 0.20 0.30 0.30 0.20
   //exclusionZone1_y = 0.20 0.30 0.30 0.20

   // Optional: Exclusion zones to avoid the robot seeing itself:
   //exclusionAngles1_ini = 20  // Deg
   //exclusionAngles1_end = 25  // Deg

#include <mrpt/hwdrivers/CSickLaserUSB.h>

class CSickLaserUSB: public mrpt::hwdrivers::C2DRangeFinderAbstract
{
public:
    // construction

    CSickLaserUSB();

    //
methods

    void setDeviceSerialNumber(const std::string& deviceSerialNumber);

    virtual void doProcessSimple(
        bool& outThereIsObservation,
        mrpt::obs::CObservation2DRangeScan& outObservation,
        bool& hardwareError
        );

    virtual bool turnOn();
    virtual bool turnOff();
};

Inherited Members

public:
    // enums

    enum TSensorState;

    // structs

    struct TMsg;

    //
fields

    bool logging_enable_console_output {true};
    bool logging_enable_keep_record {false};

    //
methods

    CGenericSensor& operator = (const CGenericSensor&);
    virtual void doProcess() = 0;
    void logStr(const VerbosityLevel level, std::string_view msg_str) const;
    void logFmt(const VerbosityLevel level, const char* fmt, ...) const;
    void void logCond(const VerbosityLevel level, bool cond, const std::string& msg_str) const;
    void setLoggerName(const std::string& name);
    std::string getLoggerName() const;
    void setMinLoggingLevel(const VerbosityLevel level);
    void setVerbosityLevel(const VerbosityLevel level);
    VerbosityLevel getMinLoggingLevel() const;
    void getLogAsString(std::string& log_contents) const;
    std::string getLogAsString() const;
    void writeLogToFile(const std::optional<std::string> fname_in = std::nullopt) const;
    void dumpLogToConsole() const;
    std::string getLoggerLastMsg() const;
    void getLoggerLastMsg(std::string& msg_str) const;
    void loggerReset();
    bool logDeregisterCallback(output_logger_callback_t userFunc);
    void showPreview(bool enable = true);
    void bindIO(const std::shared_ptr<mrpt::io::CStream>& streamIO);
    void getObservation(bool& outThereIsObservation, mrpt::obs::CObservation2DRangeScan& outObservation, bool& hardwareError);
    virtual void doProcess();

    virtual void doProcessSimple(
        bool& outThereIsObservation,
        mrpt::obs::CObservation2DRangeScan& outObservation,
        bool& hardwareError
        ) = 0;

    virtual bool turnOn() = 0;
    virtual bool turnOff() = 0;
    double getEstimatedScanPeriod() const;
    TSensorState getState() const;
    void enableVerbose(bool enabled = true);
    void loadConfig(const mrpt::config::CConfigFileBase& configSource, const std::string& section);
    virtual void initialize();
    void getObservations(TListObservations& lstObjects);
    TListObservations getObservations();
    virtual void setPathForExternalImages(] const std::string& directory);
    void setExternalImageFormat(const std::string& ext);
    void setExternalImageJPEGQuality(const unsigned int quality);
    static std::array<mrpt::system::ConsoleForegroundColor, NUMBER_OF_VERBOSITY_LEVELS>& logging_levels_to_colors();
    static std::array<std::string, NUMBER_OF_VERBOSITY_LEVELS>& logging_levels_to_names();
    static void registerClass(const TSensorClassId* pNewClass);
    static CGenericSensor* createSensor(const std::string& className);
    static Ptr createSensorPtr(const std::string& className);

Methods

void setDeviceSerialNumber(const std::string& deviceSerialNumber)

Changes the serial number of the device to open (call prior to ‘doProcess’)

virtual void doProcessSimple(
    bool& outThereIsObservation,
    mrpt::obs::CObservation2DRangeScan& outObservation,
    bool& hardwareError
    )

Specific laser scanner “software drivers” must process here new data from the I/O stream, and, if a whole scan has arrived, return it.

This method will be typically called in a different thread than other methods, and will be called in a timely fashion.

virtual bool turnOn()

Enables the scanning mode (in this class this has no effect).

Returns:

If everything works “true”, or “false” if there is any error.

virtual bool turnOff()

Disables the scanning mode (in this class this has no effect).

Returns:

If everything works “true”, or “false” if there is any error.