11 #ifndef GBX_SICK_ACFR_H 12 #define GBX_SICK_ACFR_H 14 #include <gbxsickacfr/serialhandler.h> 15 #include <gbxutilacfr/tracer.h> 16 #include <gbxutilacfr/status.h> 27 std::string toString()
const;
28 bool operator==(
const Config & other );
29 bool operator!=(
const Config & other );
56 unsigned char *intensities;
86 void read(
Data &data );
92 bool waitForRxMsgType( uChar type, TimedLmsRxMsg &rxMsg,
int maxWaitMs );
95 bool waitForAckOrNack(
bool &receivedAck );
97 LmsRxMsgPtr askLaserForStatusData();
98 LmsRxMsgPtr askLaserForConfigData();
100 LmsConfigurationData desiredConfiguration();
101 bool isAsDesired(
const LmsConfigurationData &lmsConfig );
103 int guessLaserBaudRate();
108 TimedLmsRxMsg sendAndExpectRxMsg(
const std::vector<uChar> &commandAndData,
109 bool ignoreErrorConditions=
false );
111 std::string errorConditions();
113 uChar desiredMeasuredValueUnit();
114 uint16_t desiredAngularResolution();
120 std::auto_ptr<SerialHandler> serialHandler_;
122 std::vector<uChar> commandAndData_;
123 std::vector<uChar> telegramBuffer_;
Data structure returned by read()
Definition: gbxsickacfr/driver.h:48
double maxRange
maximum range [m]
Definition: gbxsickacfr/driver.h:38
double minRange
minimum range [m]
Definition: gbxsickacfr/driver.h:36
double startAngle
starting angle [rad]
Definition: gbxsickacfr/driver.h:42
Configuration structure.
Definition: gbxsickacfr/driver.h:22
double fieldOfView
field of viewe [rad]
Definition: gbxsickacfr/driver.h:40
Local and remote tracing.
Definition: tracer.h:111
std::string device
Serial device. e.g. "/dev/ttyS0".
Definition: gbxsickacfr/driver.h:32
SICK driver.
Definition: gbxsickacfr/driver.h:65
int baudRate
Baud rate.
Definition: gbxsickacfr/driver.h:34
Local interface to component status.
Definition: status.h:253
std::string warnings
if 'haveWarnings' is set, 'warnings' will contain diagnostic information.
Definition: gbxsickacfr/driver.h:61
int numberOfSamples
number of samples in a scan
Definition: gbxsickacfr/driver.h:44