/home/fwph/code/wurde/modules/sickLaser/sick.h File Reference

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Classes

struct  laser_device_t
struct  laser_settings_t
struct  sick_laser_t

Defines

#define LASER_BUFFER_SIZE   100000
#define CRC16_GEN_POL   0x8005
#define CRC16_GEN_POL0   0x80
#define CRC16_GEN_POL1   0x05
#define LMS_PASSWORD   "SICK_LMS"
#define PLS_PASSWORD   "SICK_PLS"
#define BUFFER_SIZE   16000
#define MAX_COMMAND_SIZE   8196
#define MAX_NAME_LENGTH   256
#define MAX_TIME_FOR_CLEAR   0.2
#define MAX_TIME_FOR_DATA   0.3
#define MAX_TIME_FOR_ACK   0.1
#define MAX_TIME_FOR_ANSWER   0.1
#define MAX_TIME_FOR_SENSOR_DATA   0.5
#define MAX_TIME_FOR_CONFIG   3.0
#define MAX_TIME_FOR_GETTING_CONF   0.3
#define MAX_TIME_FOR_TESTING_BAUDRATE   1.0
#define INI   -1
#define TIO   0
#define STX   0x02
#define UKN   0x05
#define ACK   0x06
#define DLE   0x10
#define NAK   0x15
#define LID   0x80
#define RES_1_00_DEGREE   0
#define RES_0_50_DEGREE   1
#define RES_0_25_DEGREE   2
#define TIOCGETP   0x5481
#define TIOCSETP   0x5482
#define RAW   1
#define CBREAK   64

Typedefs

typedef struct laser_device_t * laser_device_p
typedef struct sick_laser_t * sick_laser_p

Enumerations

enum  laser_model_t { PLS, LMS }
enum  range_res_t { CM, MM, DM }
enum  range_dist_t { RANGE80M, RANGE160M, RANGE320M }
enum  parity_t { N, E, O }

Functions

int sick_start_laser (sick_laser_p laser)
void sick_stop_laser (sick_laser_p laser)
void sick_handle_laser (sick_laser_p laser)

Define Documentation

#define ACK   0x06

Definition at line 30 of file sick.h.

Referenced by sick_request_lms_config(), sick_set_config_mode(), sick_set_laser_baudrate(), sick_set_lms_config(), sick_set_lms_resolution(), sick_start_continuous_mode(), sick_stop_continuous_mode(), and sick_write_command().

#define BUFFER_SIZE   16000

Definition at line 13 of file sick.h.

Referenced by sick_read_data(), sick_set_lms_range(), and sick_testBaudrate().

#define CBREAK   64

Definition at line 43 of file sick.h.

#define CRC16_GEN_POL   0x8005

Definition at line 6 of file sick.h.

#define CRC16_GEN_POL0   0x80

Definition at line 7 of file sick.h.

Referenced by sick_compute_checksum().

#define CRC16_GEN_POL1   0x05

Definition at line 8 of file sick.h.

Referenced by sick_compute_checksum().

#define DLE   0x10

Definition at line 31 of file sick.h.

Referenced by sick_write_command().

#define INI   -1

Definition at line 26 of file sick.h.

Referenced by sick_write_command().

#define LASER_BUFFER_SIZE   100000

Definition at line 4 of file sick.h.

Referenced by sick_allocate_laser(), and sick_handle_laser().

#define LID   0x80

Definition at line 33 of file sick.h.

Referenced by sick_read_data().

#define LMS_PASSWORD   "SICK_LMS"

Definition at line 10 of file sick.h.

Referenced by initializeLaser().

#define MAX_COMMAND_SIZE   8196

Definition at line 14 of file sick.h.

Referenced by sick_set_config_mode(), and sick_write_command().

#define MAX_NAME_LENGTH   256

Definition at line 15 of file sick.h.

Referenced by initializeLaser().

#define MAX_TIME_FOR_ACK   0.1

Definition at line 19 of file sick.h.

#define MAX_TIME_FOR_ANSWER   0.1

Definition at line 20 of file sick.h.

#define MAX_TIME_FOR_CLEAR   0.2

Definition at line 17 of file sick.h.

#define MAX_TIME_FOR_CONFIG   3.0

Definition at line 22 of file sick.h.

Referenced by sick_set_config_mode().

#define MAX_TIME_FOR_DATA   0.3

Definition at line 18 of file sick.h.

#define MAX_TIME_FOR_GETTING_CONF   0.3

Definition at line 23 of file sick.h.

Referenced by sick_set_lms_range().

#define MAX_TIME_FOR_SENSOR_DATA   0.5

Definition at line 21 of file sick.h.

#define MAX_TIME_FOR_TESTING_BAUDRATE   1.0

Definition at line 24 of file sick.h.

Referenced by sick_testBaudrate().

#define NAK   0x15

Definition at line 32 of file sick.h.

Referenced by sick_testBaudrate(), and sick_write_command().

#define PLS_PASSWORD   "SICK_PLS"

Definition at line 11 of file sick.h.

Referenced by initializeLaser().

#define RAW   1

Definition at line 42 of file sick.h.

Referenced by carmen_serial_setparms().

#define RES_0_25_DEGREE   2

Definition at line 37 of file sick.h.

#define RES_0_50_DEGREE   1

Definition at line 36 of file sick.h.

Referenced by sick_set_lms_resolution(), sick_start_continuous_mode(), and sick_start_laser().

#define RES_1_00_DEGREE   0

Definition at line 35 of file sick.h.

Referenced by initializeLaser(), sick_set_lms_resolution(), sick_start_continuous_mode(), and sick_start_laser().

#define STX   0x02

Definition at line 28 of file sick.h.

Referenced by RFlex::readData(), RFlex::sendCommand(), sick_read_data(), and sick_write_command().

#define TIO   0

Definition at line 27 of file sick.h.

Referenced by sick_write_command().

#define TIOCGETP   0x5481

Definition at line 40 of file sick.h.

Referenced by carmen_serial_setparms().

#define TIOCSETP   0x5482

Definition at line 41 of file sick.h.

Referenced by carmen_serial_setparms().

#define UKN   0x05

Definition at line 29 of file sick.h.

Referenced by sick_write_command().

Typedef Documentation

typedef struct laser_device_t * laser_device_p

typedef struct sick_laser_t * sick_laser_p

Enumeration Type Documentation

enum laser_model_t

Enumerator:
PLS 
LMS 

Definition at line 50 of file sick.h.

enum parity_t

Enumerator:
N 
E 
O 

Definition at line 53 of file sick.h.

enum range_dist_t

Enumerator:
RANGE80M 
RANGE160M 
RANGE320M 

Definition at line 52 of file sick.h.

enum range_res_t

Enumerator:
CM 
MM 
DM 

Definition at line 51 of file sick.h.

Function Documentation

void sick_handle_laser ( sick_laser_p  laser  ) 

Definition at line 808 of file sick.c.

References sick_laser_t::buffer, sick_laser_t::buffer_position, carmen_serial_numChars(), carmen_serial_readn(), sick_laser_t::dev, laser_device_t::fd, laser, LASER_BUFFER_SIZE, sick_laser_t::new_reading, sick_laser_t::packet_length, sick_laser_t::packet_offset, sick_laser_t::processed_mark, sick_process_packet(), and sick_valid_packet().

Referenced by main().

int sick_start_laser ( sick_laser_p  laser  ) 

Definition at line 656 of file sick.c.

References laser_settings_t::angle_range, laser_settings_t::angle_resolution, laser_settings_t::detect_baudrate, laser, LMS, PLS, RES_0_50_DEGREE, RES_1_00_DEGREE, laser_settings_t::set_baudrate, sick_laser_t::settings, sick_check_baudrate(), sick_connect_device(), sick_detect_baudrate(), sick_set_baudrate(), sick_set_config_mode(), sick_set_laser_baudrate(), sick_set_lms_range(), sick_set_lms_resolution(), sick_start_continuous_mode(), laser_settings_t::start_baudrate, and laser_settings_t::type.

Referenced by initializeLaser().

void sick_stop_laser ( sick_laser_p  laser  ) 

Definition at line 849 of file sick.c.

References sick_laser_t::dev, laser_device_t::fd, laser, and sick_stop_continuous_mode().

Referenced by main().

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