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".
Definition at line 62 of file CSickLaserSerial.h.
#include <mrpt/hwdrivers/CSickLaserSerial.h>
Public Types | |
enum | TSensorState { ssInitializing = 0 , ssWorking , ssError } |
The current state of the sensor. More... | |
typedef std::multimap< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > | TListObservations |
typedef std::pair< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > | TListObsPair |
Public Member Functions | |
CSickLaserSerial () | |
Constructor | |
virtual | ~CSickLaserSerial () |
Destructor | |
void | setSerialPort (const std::string &port) |
Changes the serial port to connect to (call prior to 'doProcess'), for example "COM1" or "ttyS0". | |
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. | |
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". | |
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". | |
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. | |
int | getScanResolution () const |
unsigned int | getCurrentConnectTry () const |
If performing several tries in initialize(), this is the current try loop number. | |
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. | |
void | initialize () |
Set-up communication with the laser. | |
bool | turnOn () |
Enables the scanning mode (in this class this has no effect). | |
bool | turnOff () |
Disables the scanning mode (in this class this has no effect). | |
void | showPreview (bool enable=true) |
Enables GUI visualization in real-time. | |
void | bindIO (mrpt::utils::CStream *streamIO) |
Binds the object to a given I/O channel. | |
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). | |
void | doProcess () |
Main method for a CGenericSensor. | |
virtual const mrpt::hwdrivers::TSensorClassId * | GetRuntimeClass () const =0 |
TSensorState | getState () const |
The current state of the sensor | |
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. | |
bool | isVerboseEnabled () const |
void | loadConfig (const mrpt::utils::CConfigFileBase &configSource, const std::string §ion) |
Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific". | |
void | getObservations (TListObservations &lstObjects) |
Returns a list of enqueued objects, emptying it (thread-safe). | |
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). | |
void | setExternalImageFormat (const std::string &ext) |
Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg". | |
void | setExternalImageJPEGQuality (const unsigned int quality) |
The quality of JPEG compression, when external images is enabled and the format is "jpg". | |
unsigned int | getExternalImageJPEGQuality () const |
Static Public Member Functions | |
static void | printf_debug (const char *frmt,...) |
Sends a formated text to "debugOut" if not NULL, or to cout otherwise. | |
static void | registerClass (const TSensorClassId *pNewClass) |
Register a class into the internal list of "CGenericSensor" descendents. | |
static CGenericSensor * | createSensor (const std::string &className) |
Creates a sensor by a name of the class. | |
static CGenericSensorPtr | createSensorPtr (const std::string &className) |
Just like createSensor, but returning a smart pointer to the newly created sensor object. | |
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. | |
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). | |
void | filterByExclusionAreas (mrpt::obs::CObservation2DRangeScan &obs) const |
Mark as invalid those points which (x,y) coordinates fall within the exclusion polygons. | |
void | filterByExclusionAngles (mrpt::obs::CObservation2DRangeScan &obs) const |
Mark as invalid those ranges in a set of forbiden angle ranges. | |
void | processPreview (const mrpt::obs::CObservation2DRangeScan &obs) |
Must be called inside the capture method to allow optional GUI preview of scans. | |
void | appendObservations (const std::vector< mrpt::utils::CSerializablePtr > &obj) |
This method must be called by derived classes to enqueue a new observation in the list to be returned by getObservations. | |
void | appendObservation (const mrpt::utils::CSerializablePtr &obj) |
Like appendObservations() but for just one observation. | |
Protected Attributes | |
utils::CStream * | m_stream |
The I/O channel (will be NULL if not bound). | |
size_t | m_grab_decimation_counter |
Used when "m_grab_decimation" is enabled. | |
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. | |
std::string | m_external_images_format |
The extension ("jpg","gif","png",...) that determines the format of images saved externally. | |
unsigned int | m_external_images_jpeg_quality |
For JPEG images, the quality (default=95%). | |
Common settings to any sensor, loaded in "loadConfig" | |
double | m_process_rate |
See CGenericSensor. | |
size_t | m_max_queue_len |
See CGenericSensor. | |
size_t | m_grab_decimation |
If set to N>=2, only 1 out of N observations will be saved to m_objList. | |
std::string | m_sensorLabel |
See CGenericSensor. | |
Private Member Functions | |
bool | tryToOpenComms (std::string *err_msg=NULL) |
Tries to open the com port and setup all the LMS protocol. Returns true if OK or already open. | |
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. | |
bool | LMS_setupBaudrate (int baud) |
Send a command to change the LMS comms baudrate, return true if ACK is OK. baud can be: 9600, 19200, 38400, 500000. | |
bool | LMS_statusQuery () |
Send a status query and wait for the answer. Return true on OK. | |
bool | LMS_waitACK (uint16_t timeout_ms) |
Returns false if timeout. | |
bool | LMS_waitIncomingFrame (uint16_t timeout) |
Returns false if timeout. | |
bool | LMS_sendMeasuringMode_cm_mm () |
Returns false on error. | |
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. Return false on error. | |
Private Attributes | |
bool | m_mm_mode |
int | m_scans_FOV |
100 or 180 deg | |
int | m_scans_res |
1/100th of deg: 100, 50 or 25 | |
mrpt::math::TPose3D | m_sensorPose |
The sensor 6D pose: | |
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. | |
CSerialPort * | m_mySerialPort |
Will be !=NULL only if I created it, so I must destroy it at the end. | |
int | m_com_baudRate |
Baudrate: 9600, 38400, 500000. | |
unsigned int | m_nTries_connect |
Default = 1. | |
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. | |
mrpt::obs::CObservation2DRangeScan | m_lastObservation |
bool | m_lastObservationIsNew |
bool | m_hardwareError |
synch::CCriticalSection | m_csChangeStream |
For being thread-safe. | |
synch::CCriticalSection | m_csLastObservation |
mrpt::obs::CObservation2DRangeScanPtr | m_nextObservation |
A dynamic object used as buffer in doProcess. | |
mrpt::obs::CObservation2DRangeScan::TListExclusionAreasWithRanges | m_lstExclusionPolys |
A list of optional exclusion polygons, in coordinates relative to the vehicle, that is, taking into account the "sensorPose". | |
std::vector< std::pair< double, double > > | m_lstExclusionAngles |
A list of pairs of angles <init,end> such as all sensor ranges falling in those forbiden angles will be marked as invalid. | |
bool | m_showPreview |
If true, shows a 3D window with a preview of the grabber data. | |
mrpt::gui::CDisplayWindow3DPtr | m_win |
synch::CCriticalSection | m_csObjList |
The critical section for m_objList. | |
TListObservations | m_objList |
The queue of objects to be returned by getObservations. | |
Static Private Attributes | |
static int | CRC16_GEN_POL |
static std::map< std::string, const TSensorClassId * > | m_knownClasses |
Used in registerClass. | |
|
inherited |
Definition at line 68 of file CGenericSensor.h.
|
inherited |
Definition at line 69 of file CGenericSensor.h.
|
inherited |
The current state of the sensor.
Enumerator | |
---|---|
ssInitializing | |
ssWorking | |
ssError |
Definition at line 74 of file CGenericSensor.h.
mrpt::hwdrivers::CSickLaserSerial::CSickLaserSerial | ( | ) |
Constructor
|
virtual |
Destructor
|
inlineprotectedinherited |
Like appendObservations() but for just one observation.
Definition at line 146 of file CGenericSensor.h.
|
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:
If several observations are passed at once in the vector, they'll be considered as a block regarding the grabbing decimation factor.
|
inherited |
Binds the object to a given I/O channel.
The stream object must not be deleted before the destruction of this class.
|
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:
|
inlinestaticinherited |
Just like createSensor, but returning a smart pointer to the newly created sensor object.
Definition at line 179 of file CGenericSensor.h.
|
virtualinherited |
Main method for a CGenericSensor.
Implements mrpt::hwdrivers::CGenericSensor.
Reimplemented in mrpt::hwdrivers::CLMS100Eth.
|
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.
|
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 92 of file CGenericSensor.h.
|
protectedinherited |
Mark as invalid those ranges in a set of forbiden angle ranges.
|
protectedinherited |
Mark as invalid those points which (x,y) coordinates fall within the exclusion polygons.
|
inline |
Definition at line 129 of file CSickLaserSerial.h.
|
inline |
If performing several tries in initialize(), this is the current try loop number.
Definition at line 150 of file CSickLaserSerial.h.
|
inlineinherited |
Definition at line 233 of file CGenericSensor.h.
|
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).
|
inherited |
Returns a list of enqueued objects, emptying it (thread-safe).
The objects must be freed by the invoker.
|
inlineinherited |
Definition at line 84 of file CGenericSensor.h.
|
pure virtualinherited |
|
inline |
Definition at line 141 of file CSickLaserSerial.h.
|
inline |
Definition at line 147 of file CSickLaserSerial.h.
|
inlineinherited |
Definition at line 86 of file CGenericSensor.h.
|
inline |
Definition at line 120 of file CSickLaserSerial.h.
|
inlineinherited |
The current state of the sensor
Definition at line 82 of file CGenericSensor.h.
|
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.
|
inlineinherited |
Definition at line 93 of file CGenericSensor.h.
|
private |
|
private |
Returns false on error.
|
private |
Send a command to change the LMS comms baudrate, return true if ACK is OK. baud can be: 9600, 19200, 38400, 500000.
|
private |
Assures laser is connected and operating at 38400, in its case returns true.
|
private |
|
private |
Send a status query and wait for the answer. Return true on OK.
|
private |
Returns false if timeout.
|
private |
Returns false if timeout.
|
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".
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')
|
inherited |
Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific".
This | method throws an exception with a descriptive message if some critical parameter is missing or has an invalid value. |
|
protectedvirtual |
See the class documentation at the top for expected parameters.
Implements mrpt::hwdrivers::CGenericSensor.
|
staticinherited |
Sends a formated text to "debugOut" if not NULL, or to cout otherwise.
Referenced by mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute().
|
protectedinherited |
Must be called inside the capture method to allow optional GUI preview of scans.
|
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.
|
private |
Send header+command-data+crc and waits for ACK. Return false on error.
|
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".
Definition at line 125 of file CSickLaserSerial.h.
|
inlineinherited |
Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg".
Definition at line 225 of file CGenericSensor.h.
|
inlineinherited |
The quality of JPEG compression, when external images is enabled and the format is "jpg".
Definition at line 230 of file CGenericSensor.h.
|
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 135 of file CSickLaserSerial.h.
|
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.
std::exception | If the directory doesn't exists and cannot be created. |
Reimplemented in mrpt::hwdrivers::CCameraSensor, mrpt::hwdrivers::CKinect, mrpt::hwdrivers::COpenNI2_RGBD360, mrpt::hwdrivers::COpenNI2Sensor, and mrpt::hwdrivers::CSwissRanger3DCamera.
Definition at line 216 of file CGenericSensor.h.
References MRPT_UNUSED_PARAM.
|
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 140 of file CSickLaserSerial.h.
|
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 146 of file CSickLaserSerial.h.
|
inlineinherited |
Definition at line 87 of file CGenericSensor.h.
|
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 117 of file CSickLaserSerial.h.
|
inlineinherited |
Enables GUI visualization in real-time.
Definition at line 95 of file C2DRangeFinderAbstract.h.
|
private |
Tries to open the com port and setup all the LMS protocol. Returns true if OK or already open.
|
virtual |
Disables the scanning mode (in this class this has no effect).
Implements mrpt::hwdrivers::C2DRangeFinderAbstract.
|
virtual |
Enables the scanning mode (in this class this has no effect).
Implements mrpt::hwdrivers::C2DRangeFinderAbstract.
|
private |
|
staticprivate |
Definition at line 74 of file CSickLaserSerial.h.
|
private |
Baudrate: 9600, 38400, 500000.
Definition at line 96 of file CSickLaserSerial.h.
|
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 94 of file CSickLaserSerial.h.
|
privateinherited |
For being thread-safe.
Definition at line 47 of file C2DRangeFinderAbstract.h.
|
privateinherited |
Definition at line 47 of file C2DRangeFinderAbstract.h.
|
privateinherited |
The critical section for m_objList.
Definition at line 104 of file CGenericSensor.h.
|
protectedinherited |
The extension ("jpg","gif","png",...) that determines the format of images saved externally.
Definition at line 130 of file CGenericSensor.h.
|
protectedinherited |
For JPEG images, the quality (default=95%).
Definition at line 131 of file CGenericSensor.h.
|
protectedinherited |
If set to N>=2, only 1 out of N observations will be saved to m_objList.
Definition at line 117 of file CGenericSensor.h.
|
protectedinherited |
Used when "m_grab_decimation" is enabled.
Definition at line 122 of file CGenericSensor.h.
|
privateinherited |
Definition at line 43 of file C2DRangeFinderAbstract.h.
|
staticprivateinherited |
Used in registerClass.
Definition at line 108 of file CGenericSensor.h.
|
privateinherited |
Definition at line 41 of file C2DRangeFinderAbstract.h.
|
privateinherited |
Definition at line 42 of file C2DRangeFinderAbstract.h.
|
privateinherited |
A list of pairs of angles <init,end> such as all sensor ranges falling in those forbiden angles will be marked as invalid.
Definition at line 52 of file C2DRangeFinderAbstract.h.
|
privateinherited |
A list of optional exclusion polygons, in coordinates relative to the vehicle, that is, taking into account the "sensorPose".
Definition at line 51 of file C2DRangeFinderAbstract.h.
|
protectedinherited |
See CGenericSensor.
Definition at line 116 of file CGenericSensor.h.
|
private |
Definition at line 67 of file CSickLaserSerial.h.
|
private |
Will be !=NULL only if I created it, so I must destroy it at the end.
Definition at line 95 of file CSickLaserSerial.h.
|
privateinherited |
A dynamic object used as buffer in doProcess.
Definition at line 49 of file C2DRangeFinderAbstract.h.
|
private |
Default = 1.
Definition at line 97 of file CSickLaserSerial.h.
|
private |
Definition at line 98 of file CSickLaserSerial.h.
|
privateinherited |
The queue of objects to be returned by getObservations.
Definition at line 105 of file CGenericSensor.h.
|
protectedinherited |
The path where to save off-rawlog images: empty means save images embedded in the rawlog.
Definition at line 129 of file CGenericSensor.h.
|
protectedinherited |
See CGenericSensor.
Definition at line 115 of file CGenericSensor.h.
|
private |
Definition at line 92 of file CSickLaserSerial.h.
|
private |
100 or 180 deg
Definition at line 68 of file CSickLaserSerial.h.
|
private |
1/100th of deg: 100, 50 or 25
Definition at line 69 of file CSickLaserSerial.h.
|
protectedinherited |
See CGenericSensor.
Definition at line 118 of file CGenericSensor.h.
|
private |
The sensor 6D pose:
Definition at line 72 of file CSickLaserSerial.h.
|
privateinherited |
If true, shows a 3D window with a preview of the grabber data.
Definition at line 54 of file C2DRangeFinderAbstract.h.
|
private |
If true, doesn't send the initialization commands to the laser and go straight to capturing.
Definition at line 99 of file CSickLaserSerial.h.
|
protectedinherited |
Definition at line 124 of file CGenericSensor.h.
|
protectedinherited |
The I/O channel (will be NULL if not bound).
Definition at line 58 of file C2DRangeFinderAbstract.h.
|
protectedinherited |
Definition at line 125 of file CGenericSensor.h.
|
privateinherited |
Definition at line 55 of file C2DRangeFinderAbstract.h.
Page generated by Doxygen 1.9.6 for MRPT 1.4.0 SVN: at Wed Mar 22 06:16:42 UTC 2023 |