Detailed Description

This "software driver" implements the communication protocol for interfacing a SICK LMS 2XX laser scanners through a standard RS232 serial port (or a USB2SERIAL converter).

The serial port is opened upon the first call to "doProcess" or "initialize", so you must call "loadConfig" before this, or manually call "setSerialPort". Another alternative is to call the base class method C2DRangeFinderAbstract::bindIO, but the "setSerialPort" interface is probably much simpler to use.

For an example of usage see the example in "samples/SICK_laser_serial_test". See also the example configuration file for rawlog-grabber in "share/mrpt/config_files/rawlog-grabber".

  PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
 -------------------------------------------------------
   [supplied_section_name]
   COM_port_WIN = COM1   // Serial port to connect to
   COM_port_LIN = ttyS0
   COM_baudRate = 38400 // Possible values: 9600 (default), 38400, 5000000
   mm_mode      = 1/0   // 1: millimeter mode, 0:centimeter mode (Default=0)
   FOV          = 180   // Field of view: 100 or 180 degrees (Default=180)
   resolution   =  50   // Scanning resolution, in units of 1/100 degree.
Valid values: 25,50,100 (Default=50)
   //skip_laser_config  = true // (Default:false) If true, doesn't send the
initialization commands to the laser and go straight to capturing
   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

See also: C2DRangeFinderAbstract

Definition at line 70 of file CSickLaserSerial.h.

#include <mrpt/hwdrivers/CSickLaserSerial.h>

Inheritance diagram for mrpt::hwdrivers::CSickLaserSerial:

Public Types
enum	TSensorState { ssInitializing = 0, ssWorking, ssError }
	The current state of the sensor. More...

using	Ptr = std::shared_ptr< CGenericSensor >

typedef std::multimap< mrpt::system::TTimeStamp, mrpt::utils::CSerializable::Ptr >	TListObservations

typedef std::pair< mrpt::system::TTimeStamp, mrpt::utils::CSerializable::Ptr >	TListObsPair

Public Member Functions
	CSickLaserSerial ()
	Constructor. More...

virtual	~CSickLaserSerial ()
	Destructor. More...

void	setSerialPort (const std::string &port)
	Changes the serial port to connect to (call prior to 'doProcess'), for example "COM1" or "ttyS0". More...

std::string	getSerialPort () const

void	setBaudRate (int baud)
	Changes the serial port baud rate (call prior to 'doProcess'); valid values are 9600,38400 and 500000. More...

int	getBaudRate () const

void	setMillimeterMode (bool mm_mode=true)
	Enables/Disables the millimeter mode, with a greater accuracy but a shorter range (default=false) (call prior to 'doProcess') This is not needed if the configuration is loaded with "loadConfig". More...

void	setScanFOV (int fov_degrees)
	Set the scanning field of view - possible values are 100 or 180 (default) (call prior to 'doProcess') This is not needed if the configuration is loaded with "loadConfig". More...

int	getScanFOV () const

void	setScanResolution (int res_1_100th_degree)
	Set the scanning resolution, in units of 1/100 degree - Possible values are 25, 50 and 100, for 0.25, 0.5 (default) and 1 deg. More...

int	getScanResolution () const

unsigned int	getCurrentConnectTry () const
	If performing several tries in ::initialize(), this is the current try loop number. More...

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. More...

void	initialize ()
	Set-up communication with the laser. More...

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

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

void	showPreview (bool enable=true)
	Enables GUI visualization in real-time. More...

void	bindIO (mrpt::utils::CStream *streamIO)
	Binds the object to a given I/O channel. More...

void	getObservation (bool &outThereIsObservation, mrpt::obs::CObservation2DRangeScan &outObservation, bool &hardwareError)
	Get the last observation from the sensor, if available, and unmarks it as being "the last one" (thus a new scan must arrive or subsequent calls will find no new observations). More...

void	doProcess ()
	Main method for a CGenericSensor. More...

virtual const mrpt::hwdrivers::TSensorClassId *	GetRuntimeClass () const =0

TSensorState	getState () const
	The current state of the sensor. More...

double	getProcessRate () const

std::string	getSensorLabel () const

void	setSensorLabel (const std::string &sensorLabel)

void	enableVerbose (bool enabled=true)
	Enable or disable extra debug info dumped to std::cout during sensor operation. More...

bool	isVerboseEnabled () const

void	loadConfig (const mrpt::utils::CConfigFileBase &configSource, const std::string &section)
	Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific". More...

void	getObservations (TListObservations &lstObjects)
	Returns a list of enqueued objects, emptying it (thread-safe). More...

virtual void	setPathForExternalImages (const std::string &directory)
	Set the path where to save off-rawlog image files (will be ignored in those sensors where this is not applicable). More...

void	setExternalImageFormat (const std::string &ext)
	Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg". More...

void	setExternalImageJPEGQuality (const unsigned int quality)
	The quality of JPEG compression, when external images is enabled and the format is "jpg". More...

unsigned int	getExternalImageJPEGQuality () const

Static Public Member Functions
static void	registerClass (const TSensorClassId *pNewClass)
	Register a class into the internal list of "CGenericSensor" descendents. More...

static CGenericSensor *	createSensor (const std::string &className)
	Creates a sensor by a name of the class. More...

static CGenericSensor::Ptr	createSensorPtr (const std::string &className)
	Just like createSensor, but returning a smart pointer to the newly created sensor object. More...

Protected Member Functions
void	loadConfig_sensorSpecific (const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection)
	See the class documentation at the top for expected parameters. More...

void	loadCommonParams (const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection)
	Should be call by derived classes at "loadConfig" (loads exclusion areas AND exclusion angles). More...

void	filterByExclusionAreas (mrpt::obs::CObservation2DRangeScan &obs) const
	Mark as invalid those points which (x,y) coordinates fall within the exclusion polygons. More...

void	filterByExclusionAngles (mrpt::obs::CObservation2DRangeScan &obs) const
	Mark as invalid those ranges in a set of forbiden angle ranges. More...

void	processPreview (const mrpt::obs::CObservation2DRangeScan &obs)
	Must be called inside the capture method to allow optional GUI preview of scans. More...

void	appendObservations (const std::vector< mrpt::utils::CSerializable::Ptr > &obj)
	This method must be called by derived classes to enqueue a new observation in the list to be returned by getObservations. More...

void	appendObservation (const mrpt::utils::CSerializable::Ptr &obj)
	Like appendObservations() but for just one observation. More...

Protected Attributes
utils::CStream *	m_stream
	The I/O channel (will be nullptr if not bound). More...

size_t	m_grab_decimation_counter
	Used when "m_grab_decimation" is enabled. More...

TSensorState	m_state

bool	m_verbose

std::string	m_path_for_external_images
	The path where to save off-rawlog images: empty means save images embedded in the rawlog. More...

std::string	m_external_images_format
	The extension ("jpg","gif","png",...) that determines the format of images saved externally. More...

unsigned int	m_external_images_jpeg_quality
	For JPEG images, the quality (default=95%). More...

Common settings to any sensor, loaded in "loadConfig"
double	m_process_rate
	See CGenericSensor. More...

size_t	m_max_queue_len
	See CGenericSensor. More...

size_t	m_grab_decimation
	If set to N>=2, only 1 out of N observations will be saved to m_objList. More...

std::string	m_sensorLabel
	See CGenericSensor. More...

Private Member Functions
bool	tryToOpenComms (std::string *err_msg=nullptr)
	Tries to open the com port and setup all the LMS protocol. More...

bool	waitContinuousSampleFrame (std::vector< float > &ranges, unsigned char &LMS_status, bool &is_mm_mode)

bool	LMS_setupSerialComms ()
	Assures laser is connected and operating at 38400, in its case returns true. More...

bool	LMS_setupBaudrate (int baud)
	Send a command to change the LMS comms baudrate, return true if ACK is OK. More...

bool	LMS_statusQuery ()
	Send a status query and wait for the answer. More...

bool	LMS_waitACK (uint16_t timeout_ms)
	Returns false if timeout. More...

bool	LMS_waitIncomingFrame (uint16_t timeout)
	Returns false if timeout. More...

bool	LMS_sendMeasuringMode_cm_mm ()
	Returns false on error. More...

bool	LMS_startContinuousMode ()

bool	LMS_endContinuousMode ()

bool	SendCommandToSICK (const uint8_t *cmd, const uint16_t cmd_len)
	Send header+command-data+crc and waits for ACK. More...

Private Attributes
bool	m_mm_mode

int	m_scans_FOV
	100 or 180 deg More...

int	m_scans_res
	1/100th of deg: 100, 50 or 25 More...

mrpt::math::TPose3D	m_sensorPose
	The sensor 6D pose: More...

uint8_t	m_received_frame_buffer [2000]

std::string	m_com_port
	If set to non-empty, the serial port will be attempted to be opened automatically when this class is first used to request data from the laser. More...

mrpt::comms::CSerialPort *	m_mySerialPort
	Will be !=nullptr only if I created it, so I must destroy it at the end. More...

int	m_com_baudRate
	Baudrate: 9600, 38400, 500000. More...

unsigned int	m_nTries_connect
	Default = 1. More...

unsigned int	m_nTries_current

bool	m_skip_laser_config
	If true, doesn't send the initialization commands to the laser and go straight to capturing. More...

Static Private Attributes
static int	CRC16_GEN_POL = 0x8005

Member Typedef Documentation

◆ Ptr

using mrpt::hwdrivers::CGenericSensor::Ptr = std::shared_ptr<CGenericSensor>

inherited

Definition at line 73 of file CGenericSensor.h.

◆ TListObservations

typedef std::multimap<mrpt::system::TTimeStamp, mrpt::utils::CSerializable::Ptr> mrpt::hwdrivers::CGenericSensor::TListObservations

inherited

Definition at line 78 of file CGenericSensor.h.

◆ TListObsPair

typedef std::pair<mrpt::system::TTimeStamp, mrpt::utils::CSerializable::Ptr> mrpt::hwdrivers::CGenericSensor::TListObsPair

inherited

Definition at line 80 of file CGenericSensor.h.

Member Enumeration Documentation

◆ TSensorState

enum mrpt::hwdrivers::CGenericSensor::TSensorState

inherited

The current state of the sensor.

See also: CGenericSensor::getState

Enumerator
ssInitializing
ssWorking
ssError

Definition at line 85 of file CGenericSensor.h.

Constructor & Destructor Documentation

◆ CSickLaserSerial()

CSickLaserSerial::CSickLaserSerial ( )

Constructor.

Definition at line 42 of file CSickLaserSerial.cpp.

References m_received_frame_buffer, and mrpt::hwdrivers::CGenericSensor::m_sensorLabel.

◆ ~CSickLaserSerial()

CSickLaserSerial::~CSickLaserSerial ( )

virtual

Destructor.

Definition at line 60 of file CSickLaserSerial.cpp.

References LMS_endContinuousMode(), m_mySerialPort, m_skip_laser_config, and mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream.

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Member Function Documentation

◆ appendObservation()

void mrpt::hwdrivers::CGenericSensor::appendObservation ( const mrpt::utils::CSerializable::Ptr & obj )

inlineprotectedinherited

Like appendObservations() but for just one observation.

Definition at line 180 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::appendObservations().

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◆ appendObservations()

void CGenericSensor::appendObservations ( const std::vector< mrpt::utils::CSerializable::Ptr > & obj )

protectedinherited

This method must be called by derived classes to enqueue a new observation in the list to be returned by getObservations.

Passed objects must be created in dynamic memory and a smart pointer passed. Example of creation:

      mrpt::obs::CObservationGPS::Ptr  o = CObservationGPS::Ptr( new
CObservationGPS() );
      o-> .... // Set data
      appendObservation(o);

If several observations are passed at once in the vector, they'll be considered as a block regarding the grabbing decimation factor.

Definition at line 53 of file CGenericSensor.cpp.

References CLASS_ID, mrpt::hwdrivers::CGenericSensor::m_csObjList, mrpt::hwdrivers::CGenericSensor::m_grab_decimation, mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter, mrpt::hwdrivers::CGenericSensor::m_objList, and THROW_EXCEPTION.

Referenced by mrpt::hwdrivers::CGenericSensor::appendObservation(), mrpt::hwdrivers::CNationalInstrumentsDAQ::doProcess(), and mrpt::hwdrivers::CKinect::doProcess().

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◆ bindIO()

void C2DRangeFinderAbstract::bindIO ( mrpt::utils::CStream * streamIO )

inherited

Binds the object to a given I/O channel.

The stream object must not be deleted before the destruction of this class.

See also: comms::CSerialPort

Definition at line 43 of file C2DRangeFinderAbstract.cpp.

References mrpt::hwdrivers::C2DRangeFinderAbstract::m_csChangeStream, and mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream.

Referenced by mrpt::hwdrivers::CHokuyoURG::checkCOMisOpen().

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◆ createSensor()

CGenericSensor * CGenericSensor::createSensor ( const std::string & className )

staticinherited

Creates a sensor by a name of the class.

Typically the user may want to create a smart pointer around the returned pointer, whis is made with:

CGenericSensor::Ptr sensor = CGenericSensor::Ptr(

CGenericSensor::createSensor("XXX") );

Returns: A pointer to a new class, or nullptr if class name is unknown.

Definition at line 103 of file CGenericSensor.cpp.

References mrpt::hwdrivers::CGenericSensor::get_registered_sensor_classes().

Referenced by mrpt::hwdrivers::CGenericSensor::createSensorPtr().

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◆ createSensorPtr()

static CGenericSensor::Ptr mrpt::hwdrivers::CGenericSensor::createSensorPtr ( const std::string & className )

inlinestaticinherited

Just like createSensor, but returning a smart pointer to the newly created sensor object.

Definition at line 220 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::createSensor().

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◆ doProcess()

void C2DRangeFinderAbstract::doProcess ( )

virtualinherited

Main method for a CGenericSensor.

Implements mrpt::hwdrivers::CGenericSensor.

Reimplemented in mrpt::hwdrivers::CLMS100Eth.

Definition at line 70 of file C2DRangeFinderAbstract.cpp.

References mrpt::hwdrivers::CGenericSensor::appendObservation(), mrpt::hwdrivers::C2DRangeFinderAbstract::doProcessSimple(), mrpt::hwdrivers::C2DRangeFinderAbstract::m_nextObservation, mrpt::hwdrivers::CGenericSensor::m_state, mrpt::hwdrivers::CGenericSensor::ssError, mrpt::hwdrivers::CGenericSensor::ssWorking, and THROW_EXCEPTION.

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◆ doProcessSimple()

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

virtual

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.

Implements mrpt::hwdrivers::C2DRangeFinderAbstract.

Definition at line 86 of file CSickLaserSerial.cpp.

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◆ enableVerbose()

void mrpt::hwdrivers::CGenericSensor::enableVerbose ( bool enabled = true )

inlineinherited

Enable or disable extra debug info dumped to std::cout during sensor operation.

Default: disabled unless the environment variable "MRPT_HWDRIVERS_VERBOSE" is set to "1" during object creation.

Definition at line 106 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_verbose.

◆ filterByExclusionAngles()

void C2DRangeFinderAbstract::filterByExclusionAngles ( mrpt::obs::CObservation2DRangeScan & obs ) const

protectedinherited

Mark as invalid those ranges in a set of forbiden angle ranges.

See also: loadExclusionAreas

Definition at line 183 of file C2DRangeFinderAbstract.cpp.

References mrpt::obs::CObservation2DRangeScan::filterByExclusionAngles(), and mrpt::hwdrivers::C2DRangeFinderAbstract::m_lstExclusionAngles.

Referenced by mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), and doProcessSimple().

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◆ filterByExclusionAreas()

void C2DRangeFinderAbstract::filterByExclusionAreas ( mrpt::obs::CObservation2DRangeScan & obs ) const

protectedinherited

Mark as invalid those points which (x,y) coordinates fall within the exclusion polygons.

See also: loadExclusionAreas

Definition at line 174 of file C2DRangeFinderAbstract.cpp.

References mrpt::obs::CObservation2DRangeScan::filterByExclusionAreas(), and mrpt::hwdrivers::C2DRangeFinderAbstract::m_lstExclusionPolys.

Referenced by mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), and doProcessSimple().

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◆ getBaudRate()

int mrpt::hwdrivers::CSickLaserSerial::getBaudRate ( ) const

inline

See also: setBaudRate

Definition at line 158 of file CSickLaserSerial.h.

References m_com_baudRate.

◆ getCurrentConnectTry()

unsigned int mrpt::hwdrivers::CSickLaserSerial::getCurrentConnectTry ( ) const

inline

If performing several tries in ::initialize(), this is the current try loop number.

Definition at line 184 of file CSickLaserSerial.h.

References m_nTries_current.

◆ getExternalImageJPEGQuality()

unsigned int mrpt::hwdrivers::CGenericSensor::getExternalImageJPEGQuality ( ) const

inlineinherited

Definition at line 290 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality.

◆ getObservation()

void C2DRangeFinderAbstract::getObservation	(	bool &	outThereIsObservation,
		mrpt::obs::CObservation2DRangeScan &	outObservation,
		bool &	hardwareError
	)

inherited

Get the last observation from the sensor, if available, and unmarks it as being "the last one" (thus a new scan must arrive or subsequent calls will find no new observations).

Definition at line 53 of file C2DRangeFinderAbstract.cpp.

References mrpt::hwdrivers::C2DRangeFinderAbstract::m_csLastObservation, mrpt::hwdrivers::C2DRangeFinderAbstract::m_hardwareError, mrpt::hwdrivers::C2DRangeFinderAbstract::m_lastObservation, and mrpt::hwdrivers::C2DRangeFinderAbstract::m_lastObservationIsNew.

◆ getObservations()

void CGenericSensor::getObservations ( TListObservations & lstObjects )

inherited

Returns a list of enqueued objects, emptying it (thread-safe).

The objects must be freed by the invoker.

Definition at line 91 of file CGenericSensor.cpp.

References mrpt::hwdrivers::CGenericSensor::m_csObjList, and mrpt::hwdrivers::CGenericSensor::m_objList.

◆ getProcessRate()

double mrpt::hwdrivers::CGenericSensor::getProcessRate ( ) const

inlineinherited

Definition at line 94 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_process_rate.

◆ GetRuntimeClass()

virtual const mrpt::hwdrivers::TSensorClassId* mrpt::hwdrivers::CGenericSensor::GetRuntimeClass ( ) const

pure virtualinherited

◆ getScanFOV()

int mrpt::hwdrivers::CSickLaserSerial::getScanFOV ( ) const

inline

Definition at line 171 of file CSickLaserSerial.h.

References m_scans_FOV.

◆ getScanResolution()

int mrpt::hwdrivers::CSickLaserSerial::getScanResolution ( ) const

inline

Definition at line 181 of file CSickLaserSerial.h.

References m_scans_res.

◆ getSensorLabel()

std::string mrpt::hwdrivers::CGenericSensor::getSensorLabel ( ) const

inlineinherited

Definition at line 95 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_sensorLabel.

◆ getSerialPort()

std::string mrpt::hwdrivers::CSickLaserSerial::getSerialPort ( ) const

inline

See also: setSerialPort

Definition at line 151 of file CSickLaserSerial.h.

References m_com_port.

◆ getState()

TSensorState mrpt::hwdrivers::CGenericSensor::getState ( ) const

inlineinherited

The current state of the sensor.

Definition at line 93 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_state.

◆ initialize()

void CSickLaserSerial::initialize ( void )

virtual

Set-up communication with the laser.

Called automatically by rawlog-grabber. If used manually, call after "loadConfig" and before "doProcess".

In this class this method does nothing, since the communications are setup at the first try from "doProcess" or "doProcessSimple".

Reimplemented from mrpt::hwdrivers::CGenericSensor.

Definition at line 391 of file CSickLaserSerial.cpp.

References m_received_frame_buffer, and tryToOpenComms().

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◆ isVerboseEnabled()

bool mrpt::hwdrivers::CGenericSensor::isVerboseEnabled ( ) const

inlineinherited

Definition at line 107 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_verbose.

◆ LMS_endContinuousMode()

bool CSickLaserSerial::LMS_endContinuousMode ( )

private

Definition at line 758 of file CSickLaserSerial.cpp.

References ASSERT_, LMS_waitIncomingFrame(), mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream, and SendCommandToSICK().

Referenced by LMS_setupSerialComms(), and ~CSickLaserSerial().

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◆ LMS_sendMeasuringMode_cm_mm()

bool CSickLaserSerial::LMS_sendMeasuringMode_cm_mm ( )

private

Returns false on error.

Definition at line 624 of file CSickLaserSerial.cpp.

References ASSERT_, LMS_waitIncomingFrame(), m_mm_mode, m_received_frame_buffer, mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream, mrpt::system::os::memcpy(), RET_ERROR, and SendCommandToSICK().

Referenced by tryToOpenComms().

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◆ LMS_setupBaudrate()

bool CSickLaserSerial::LMS_setupBaudrate ( int baud )

private

Send a command to change the LMS comms baudrate, return true if ACK is OK.

baud can be: 9600, 19200, 38400, 500000

Definition at line 484 of file CSickLaserSerial.cpp.

References ASSERT_, LMS_waitIncomingFrame(), mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream, SendCommandToSICK(), and THROW_EXCEPTION.

Referenced by LMS_setupSerialComms().

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◆ LMS_setupSerialComms()

bool CSickLaserSerial::LMS_setupSerialComms ( )

private

Assures laser is connected and operating at 38400, in its case returns true.

Definition at line 406 of file CSickLaserSerial.cpp.

References ASSERT_, LMS_endContinuousMode(), LMS_setupBaudrate(), LMS_statusQuery(), m_com_baudRate, m_nTries_connect, m_nTries_current, m_received_frame_buffer, mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream, mrpt::comms::CSerialPort::purgeBuffers(), RET_ERROR, and mrpt::comms::CSerialPort::setConfig().

Referenced by tryToOpenComms().

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◆ LMS_startContinuousMode()

bool CSickLaserSerial::LMS_startContinuousMode ( )

private

Definition at line 724 of file CSickLaserSerial.cpp.

References ASSERT_, LMS_waitIncomingFrame(), m_scans_FOV, m_scans_res, mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream, RET_ERROR, and SendCommandToSICK().

Referenced by tryToOpenComms().

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◆ LMS_statusQuery()

bool CSickLaserSerial::LMS_statusQuery ( )

private

Send a status query and wait for the answer.

Return true on OK.

Definition at line 518 of file CSickLaserSerial.cpp.

References ASSERT_, LMS_waitIncomingFrame(), mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream, and SendCommandToSICK().

Referenced by LMS_setupSerialComms().

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◆ LMS_waitACK()

bool CSickLaserSerial::LMS_waitACK ( uint16_t timeout_ms )

private

Returns false if timeout.

Definition at line 531 of file CSickLaserSerial.cpp.

References ASSERT_, mrpt::format(), mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream, mrpt::comms::CSerialPort::Read(), RET_ERROR, mrpt::utils::CTicTac::Tac(), and mrpt::utils::CTicTac::Tic().

Referenced by SendCommandToSICK().

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◆ LMS_waitIncomingFrame()

bool CSickLaserSerial::LMS_waitIncomingFrame ( uint16_t timeout )

private

Returns false if timeout.

Definition at line 557 of file CSickLaserSerial.cpp.

References ASSERT_, mrpt::utils::compute_CRC16(), CRC16_GEN_POL, m_received_frame_buffer, mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream, mrpt::comms::CSerialPort::Read(), mrpt::utils::CTicTac::Tac(), and mrpt::utils::CTicTac::Tic().

Referenced by LMS_endContinuousMode(), LMS_sendMeasuringMode_cm_mm(), LMS_setupBaudrate(), LMS_startContinuousMode(), and LMS_statusQuery().

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◆ loadCommonParams()

void C2DRangeFinderAbstract::loadCommonParams	(	const mrpt::utils::CConfigFileBase &	configSource,
		const std::string &	iniSection
	)

protectedinherited

Should be call by derived classes at "loadConfig" (loads exclusion areas AND exclusion angles).

This loads a sequence of vertices of a polygon given by its (x,y) coordinates relative to the vehicle, that is, taking into account the "sensorPose".

exclusionZoneu_x
exclusionZoneu_y for u=1,2,3,... All points within the 2D polygon will be ignored, for any Z, unless an optional entry is found:
exclusionZoneu_z=[z_min z_max] In that case, only the points within the 2D polygon AND the given range in Z will be ignored.

The number of zones is variable, but they must start at 1 and be consecutive.

This also loads any other common params (e.g. 'preview')

See also: filterByExclusionAreas

Definition at line 98 of file C2DRangeFinderAbstract.cpp.

References ASSERT_, ASSERTMSG_, DEG2RAD, mrpt::format(), mrpt::hwdrivers::C2DRangeFinderAbstract::m_lstExclusionAngles, mrpt::hwdrivers::C2DRangeFinderAbstract::m_lstExclusionPolys, M_PI, mrpt::hwdrivers::C2DRangeFinderAbstract::m_showPreview, mrpt::utils::CConfigFileBase::read_bool(), mrpt::utils::CConfigFileBase::read_double(), and mrpt::utils::CConfigFileBase::read_vector().

Referenced by mrpt::hwdrivers::CSickLaserUSB::loadConfig_sensorSpecific(), mrpt::hwdrivers::CRoboPeakLidar::loadConfig_sensorSpecific(), loadConfig_sensorSpecific(), and mrpt::hwdrivers::CHokuyoURG::loadConfig_sensorSpecific().

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◆ loadConfig()

void CGenericSensor::loadConfig	(	const mrpt::utils::CConfigFileBase &	cfg,
		const std::string &	sect
	)

inherited

Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific".

Exceptions

This	method throws an exception with a descriptive message if some critical parameter is missing or has an invalid value.

Definition at line 132 of file CGenericSensor.cpp.

References mrpt::hwdrivers::CGenericSensor::loadConfig_sensorSpecific(), mrpt::hwdrivers::CGenericSensor::m_grab_decimation, mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter, mrpt::hwdrivers::CGenericSensor::m_max_queue_len, mrpt::hwdrivers::CGenericSensor::m_process_rate, mrpt::hwdrivers::CGenericSensor::m_sensorLabel, MRPT_END, MRPT_START, mrpt::utils::CConfigFileBase::read_double(), mrpt::utils::CConfigFileBase::read_int(), and mrpt::utils::CConfigFileBase::read_string().

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◆ loadConfig_sensorSpecific()

void CSickLaserSerial::loadConfig_sensorSpecific	(	const mrpt::utils::CConfigFileBase &	configSource,
		const std::string &	iniSection
	)

protectedvirtual

See the class documentation at the top for expected parameters.

Implements mrpt::hwdrivers::CGenericSensor.

Definition at line 147 of file CSickLaserSerial.cpp.

References DEG2RAD, mrpt::hwdrivers::C2DRangeFinderAbstract::loadCommonParams(), m_com_baudRate, m_com_port, m_mm_mode, m_nTries_connect, m_scans_FOV, m_scans_res, m_sensorPose, m_skip_laser_config, mrpt::utils::CConfigFileBase::read_bool(), mrpt::utils::CConfigFileBase::read_float(), mrpt::utils::CConfigFileBase::read_int(), and mrpt::utils::CConfigFileBase::read_string().

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◆ processPreview()

void C2DRangeFinderAbstract::processPreview ( const mrpt::obs::CObservation2DRangeScan & obs )

protectedinherited

Must be called inside the capture method to allow optional GUI preview of scans.

Definition at line 189 of file C2DRangeFinderAbstract.cpp.

References mrpt::hwdrivers::CGenericSensor::m_sensorLabel, mrpt::hwdrivers::C2DRangeFinderAbstract::m_showPreview, mrpt::hwdrivers::C2DRangeFinderAbstract::m_win, and mrpt::opengl::CPlanarLaserScan::setScan().

Referenced by mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), and doProcessSimple().

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◆ registerClass()

void CGenericSensor::registerClass ( const TSensorClassId * pNewClass )

staticinherited

Register a class into the internal list of "CGenericSensor" descendents.

Used internally in the macros DEFINE_GENERIC_SENSOR, etc...

Can be used as "CGenericSensor::registerClass( SENSOR_CLASS_ID(CMySensor) );" if building custom sensors outside mrpt libraries in user code.

Definition at line 121 of file CGenericSensor.cpp.

References mrpt::hwdrivers::TSensorClassId::className, and mrpt::hwdrivers::CGenericSensor::get_registered_sensor_classes().

Referenced by mrpt::hwdrivers::CGenericSensor::CLASSINIT_GENERIC_SENSOR::CLASSINIT_GENERIC_SENSOR().

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◆ SendCommandToSICK()

bool CSickLaserSerial::SendCommandToSICK	(	const uint8_t *	cmd,
		const uint16_t	cmd_len
	)

private

Send header+command-data+crc and waits for ACK.

Return false on error.

Definition at line 773 of file CSickLaserSerial.cpp.

References ASSERT_, mrpt::utils::compute_CRC16(), mrpt::obs::gnss::crc, CRC16_GEN_POL, LMS_waitACK(), mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream, mrpt::system::os::memcpy(), and mrpt::comms::CSerialPort::Write().

Referenced by LMS_endContinuousMode(), LMS_sendMeasuringMode_cm_mm(), LMS_setupBaudrate(), LMS_startContinuousMode(), and LMS_statusQuery().

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◆ setBaudRate()

void mrpt::hwdrivers::CSickLaserSerial::setBaudRate ( int baud )

inline

Changes the serial port baud rate (call prior to 'doProcess'); valid values are 9600,38400 and 500000.

This is not needed if the configuration is loaded with "loadConfig".

See also: getBaudRate

Definition at line 156 of file CSickLaserSerial.h.

References m_com_baudRate.

◆ setExternalImageFormat()

void mrpt::hwdrivers::CGenericSensor::setExternalImageFormat ( const std::string & ext )

inlineinherited

Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg".

See also: setPathForExternalImages, setExternalImageJPEGQuality

Definition at line 279 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_external_images_format.

◆ setExternalImageJPEGQuality()

void mrpt::hwdrivers::CGenericSensor::setExternalImageJPEGQuality ( const unsigned int quality )

inlineinherited

The quality of JPEG compression, when external images is enabled and the format is "jpg".

See also: setExternalImageFormat

Definition at line 286 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality.

◆ setMillimeterMode()

void mrpt::hwdrivers::CSickLaserSerial::setMillimeterMode ( bool mm_mode = true )

inline

Enables/Disables the millimeter mode, with a greater accuracy but a shorter range (default=false) (call prior to 'doProcess') This is not needed if the configuration is loaded with "loadConfig".

Definition at line 164 of file CSickLaserSerial.h.

References m_mm_mode.

◆ setPathForExternalImages()

virtual void mrpt::hwdrivers::CGenericSensor::setPathForExternalImages ( const std::string & directory )

inlinevirtualinherited

Set the path where to save off-rawlog image files (will be ignored in those sensors where this is not applicable).

An empty string (the default value at construction) means to save images embedded in the rawlog, instead of on separate files.

Exceptions

std::exception If the directory doesn't exists and cannot be created.

Reimplemented in mrpt::hwdrivers::CCameraSensor, mrpt::hwdrivers::CKinect, mrpt::hwdrivers::COpenNI2Sensor, mrpt::hwdrivers::COpenNI2_RGBD360, and mrpt::hwdrivers::CSwissRanger3DCamera.

Definition at line 268 of file CGenericSensor.h.

References MRPT_UNUSED_PARAM.

◆ setScanFOV()

void mrpt::hwdrivers::CSickLaserSerial::setScanFOV ( int fov_degrees )

inline

Set the scanning field of view - possible values are 100 or 180 (default) (call prior to 'doProcess') This is not needed if the configuration is loaded with "loadConfig".

Definition at line 170 of file CSickLaserSerial.h.

References m_scans_FOV.

◆ setScanResolution()

void mrpt::hwdrivers::CSickLaserSerial::setScanResolution ( int res_1_100th_degree )

inline

Set the scanning resolution, in units of 1/100 degree - Possible values are 25, 50 and 100, for 0.25, 0.5 (default) and 1 deg.

(call prior to 'doProcess') This is not needed if the configuration is loaded with "loadConfig".

Definition at line 177 of file CSickLaserSerial.h.

References m_scans_res.

◆ setSensorLabel()

void mrpt::hwdrivers::CGenericSensor::setSensorLabel ( const std::string & sensorLabel )

inlineinherited

Definition at line 96 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_sensorLabel.

◆ setSerialPort()

void mrpt::hwdrivers::CSickLaserSerial::setSerialPort ( const std::string & port )

inline

Changes the serial port to connect to (call prior to 'doProcess'), for example "COM1" or "ttyS0".

This is not needed if the configuration is loaded with "loadConfig".

Definition at line 149 of file CSickLaserSerial.h.

References m_com_port.

◆ showPreview()

void mrpt::hwdrivers::C2DRangeFinderAbstract::showPreview ( bool enable = true )

inlineinherited

Enables GUI visualization in real-time.

Definition at line 120 of file C2DRangeFinderAbstract.h.

References mrpt::hwdrivers::C2DRangeFinderAbstract::m_showPreview.

◆ tryToOpenComms()

bool CSickLaserSerial::tryToOpenComms ( std::string * err_msg = nullptr )

private

Tries to open the com port and setup all the LMS protocol.

Returns true if OK or already open.

Definition at line 196 of file CSickLaserSerial.cpp.

References ASSERT_, mrpt::comms::CSerialPort::isOpen(), LMS_sendMeasuringMode_cm_mm(), LMS_setupSerialComms(), LMS_startContinuousMode(), m_com_port, m_mySerialPort, m_skip_laser_config, mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream, MRPT_LOG_ERROR, mrpt::comms::CSerialPort::open(), RET_ERROR, mrpt::comms::CSerialPort::setConfig(), mrpt::comms::CSerialPort::setSerialPortName(), and mrpt::comms::CSerialPort::setTimeouts().

Referenced by doProcessSimple(), and initialize().

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◆ turnOff()

bool CSickLaserSerial::turnOff ( )

virtual

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

Returns: If everything works "true", or "false" if there is any error.

Implements mrpt::hwdrivers::C2DRangeFinderAbstract.

Definition at line 191 of file CSickLaserSerial.cpp.

◆ turnOn()

bool CSickLaserSerial::turnOn ( )

virtual

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

Returns: If everything works "true", or "false" if there is any error.

Implements mrpt::hwdrivers::C2DRangeFinderAbstract.

Definition at line 187 of file CSickLaserSerial.cpp.

◆ waitContinuousSampleFrame()

bool CSickLaserSerial::waitContinuousSampleFrame	(	std::vector< float > &	ranges,
		unsigned char &	LMS_status,
		bool &	is_mm_mode
	)

private

Definition at line 280 of file CSickLaserSerial.cpp.

References ASSERTMSG_, mrpt::utils::compute_CRC16(), CRC16_GEN_POL, mrpt::format(), mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream, MRPT_LOG_ERROR_FMT, and mrpt::comms::CSerialPort::Read().

Referenced by doProcessSimple().

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Member Data Documentation

◆ CRC16_GEN_POL

int CSickLaserSerial::CRC16_GEN_POL = 0x8005

staticprivate

Definition at line 84 of file CSickLaserSerial.h.

Referenced by LMS_waitIncomingFrame(), SendCommandToSICK(), and waitContinuousSampleFrame().

◆ m_com_baudRate

int mrpt::hwdrivers::CSickLaserSerial::m_com_baudRate

private

Baudrate: 9600, 38400, 500000.

Definition at line 124 of file CSickLaserSerial.h.

Referenced by getBaudRate(), LMS_setupSerialComms(), loadConfig_sensorSpecific(), and setBaudRate().

◆ m_com_port

std::string mrpt::hwdrivers::CSickLaserSerial::m_com_port

private

If set to non-empty, the serial port will be attempted to be opened automatically when this class is first used to request data from the laser.

Definition at line 119 of file CSickLaserSerial.h.

Referenced by getSerialPort(), loadConfig_sensorSpecific(), setSerialPort(), and tryToOpenComms().

◆ m_external_images_format

std::string mrpt::hwdrivers::CGenericSensor::m_external_images_format

protectedinherited

The extension ("jpg","gif","png",...) that determines the format of images saved externally.

See also: setPathForExternalImages

Definition at line 158 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific(), and mrpt::hwdrivers::CGenericSensor::setExternalImageFormat().

◆ m_external_images_jpeg_quality

unsigned int mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality

protectedinherited

For JPEG images, the quality (default=95%).

Definition at line 160 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::getExternalImageJPEGQuality(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific(), and mrpt::hwdrivers::CGenericSensor::setExternalImageJPEGQuality().

◆ m_grab_decimation

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation

protectedinherited

If set to N>=2, only 1 out of N observations will be saved to m_objList.

Definition at line 139 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::appendObservations(), and mrpt::hwdrivers::CGenericSensor::loadConfig().

◆ m_grab_decimation_counter

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter

protectedinherited

Used when "m_grab_decimation" is enabled.

Definition at line 146 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::appendObservations(), and mrpt::hwdrivers::CGenericSensor::loadConfig().

◆ m_max_queue_len

size_t mrpt::hwdrivers::CGenericSensor::m_max_queue_len

protectedinherited

See CGenericSensor.

Definition at line 136 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::loadConfig().

◆ m_mm_mode

bool mrpt::hwdrivers::CSickLaserSerial::m_mm_mode

private

Definition at line 75 of file CSickLaserSerial.h.

Referenced by LMS_sendMeasuringMode_cm_mm(), loadConfig_sensorSpecific(), and setMillimeterMode().

◆ m_mySerialPort

mrpt::comms::CSerialPort* mrpt::hwdrivers::CSickLaserSerial::m_mySerialPort

private

Will be !=nullptr only if I created it, so I must destroy it at the end.

Definition at line 122 of file CSickLaserSerial.h.

Referenced by tryToOpenComms(), and ~CSickLaserSerial().

◆ m_nTries_connect

unsigned int mrpt::hwdrivers::CSickLaserSerial::m_nTries_connect

private

Default = 1.

Definition at line 126 of file CSickLaserSerial.h.

Referenced by LMS_setupSerialComms(), and loadConfig_sensorSpecific().

◆ m_nTries_current

unsigned int mrpt::hwdrivers::CSickLaserSerial::m_nTries_current

private

Definition at line 127 of file CSickLaserSerial.h.

Referenced by getCurrentConnectTry(), and LMS_setupSerialComms().

◆ m_path_for_external_images

std::string mrpt::hwdrivers::CGenericSensor::m_path_for_external_images

protectedinherited

The path where to save off-rawlog images: empty means save images embedded in the rawlog.

Definition at line 155 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), and mrpt::hwdrivers::CSwissRanger3DCamera::setPathForExternalImages().

◆ m_process_rate

double mrpt::hwdrivers::CGenericSensor::m_process_rate

protectedinherited

See CGenericSensor.

Definition at line 134 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::getProcessRate(), mrpt::hwdrivers::CGyroKVHDSP3000::initialize(), and mrpt::hwdrivers::CGenericSensor::loadConfig().

◆ m_received_frame_buffer

uint8_t mrpt::hwdrivers::CSickLaserSerial::m_received_frame_buffer[2000]

private

Definition at line 114 of file CSickLaserSerial.h.

Referenced by CSickLaserSerial(), initialize(), LMS_sendMeasuringMode_cm_mm(), LMS_setupSerialComms(), and LMS_waitIncomingFrame().

◆ m_scans_FOV

int mrpt::hwdrivers::CSickLaserSerial::m_scans_FOV

private

100 or 180 deg

Definition at line 77 of file CSickLaserSerial.h.

Referenced by getScanFOV(), LMS_startContinuousMode(), loadConfig_sensorSpecific(), and setScanFOV().

◆ m_scans_res

int mrpt::hwdrivers::CSickLaserSerial::m_scans_res

private

1/100th of deg: 100, 50 or 25

Definition at line 79 of file CSickLaserSerial.h.

Referenced by getScanResolution(), LMS_startContinuousMode(), loadConfig_sensorSpecific(), and setScanResolution().

◆ m_sensorLabel

std::string mrpt::hwdrivers::CGenericSensor::m_sensorLabel

protectedinherited

See CGenericSensor.

Definition at line 141 of file CGenericSensor.h.

◆ m_sensorPose

mrpt::math::TPose3D mrpt::hwdrivers::CSickLaserSerial::m_sensorPose

private

The sensor 6D pose:

Definition at line 82 of file CSickLaserSerial.h.

Referenced by doProcessSimple(), and loadConfig_sensorSpecific().

◆ m_skip_laser_config

bool mrpt::hwdrivers::CSickLaserSerial::m_skip_laser_config

private

If true, doesn't send the initialization commands to the laser and go straight to capturing.

Definition at line 130 of file CSickLaserSerial.h.

Referenced by loadConfig_sensorSpecific(), tryToOpenComms(), and ~CSickLaserSerial().

◆ m_state

TSensorState mrpt::hwdrivers::CGenericSensor::m_state

protectedinherited

Definition at line 148 of file CGenericSensor.h.

◆ m_stream

utils::CStream* mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream

protectedinherited

The I/O channel (will be nullptr if not bound).

Definition at line 72 of file C2DRangeFinderAbstract.h.

◆ m_verbose

bool mrpt::hwdrivers::CGenericSensor::m_verbose

protectedinherited

Definition at line 149 of file CGenericSensor.h.

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Static Private Attributes

Member Typedef Documentation

◆ Ptr

◆ TListObservations

◆ TListObsPair

Member Enumeration Documentation

◆ TSensorState

Constructor & Destructor Documentation

◆ CSickLaserSerial()

◆ ~CSickLaserSerial()

Member Function Documentation

◆ appendObservation()

◆ appendObservations()

◆ bindIO()

◆ createSensor()

◆ createSensorPtr()

◆ doProcess()

◆ doProcessSimple()

◆ enableVerbose()

◆ filterByExclusionAngles()

◆ filterByExclusionAreas()

◆ getBaudRate()

◆ getCurrentConnectTry()

◆ getExternalImageJPEGQuality()

◆ getObservation()

◆ getObservations()

◆ getProcessRate()

◆ GetRuntimeClass()

◆ getScanFOV()

◆ getScanResolution()

◆ getSensorLabel()

◆ getSerialPort()

◆ getState()

◆ initialize()

◆ isVerboseEnabled()

◆ LMS_endContinuousMode()

◆ LMS_sendMeasuringMode_cm_mm()

◆ LMS_setupBaudrate()

◆ LMS_setupSerialComms()

◆ LMS_startContinuousMode()

◆ LMS_statusQuery()

◆ LMS_waitACK()

◆ LMS_waitIncomingFrame()

◆ loadCommonParams()

◆ loadConfig()

◆ loadConfig_sensorSpecific()

◆ processPreview()

◆ registerClass()

◆ SendCommandToSICK()

◆ setBaudRate()

◆ setExternalImageFormat()

◆ setExternalImageJPEGQuality()

◆ setMillimeterMode()

◆ setPathForExternalImages()

◆ setScanFOV()

◆ setScanResolution()

◆ setSensorLabel()

◆ setSerialPort()

◆ showPreview()

◆ tryToOpenComms()

◆ turnOff()

◆ turnOn()

◆ waitContinuousSampleFrame()

Member Data Documentation

◆ CRC16_GEN_POL

◆ m_com_baudRate

◆ m_com_port

◆ m_external_images_format

◆ m_external_images_jpeg_quality

◆ m_grab_decimation

◆ m_grab_decimation_counter

◆ m_max_queue_len