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;
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();
116 void setBaudRate(
int baudRate );
120 std::auto_ptr<SerialHandler> serialHandler_;
122 std::vector<uChar> commandAndData_;
123 std::vector<uChar> telegramBuffer_;
Configuration structure.
Definition gbxsickacfr/driver.h:23
double maxRange
maximum range [m]
Definition gbxsickacfr/driver.h:38
double minRange
minimum range [m]
Definition gbxsickacfr/driver.h:36
int baudRate
Baud rate.
Definition gbxsickacfr/driver.h:34
int numberOfSamples
number of samples in a scan
Definition gbxsickacfr/driver.h:44
double startAngle
starting angle [rad]
Definition gbxsickacfr/driver.h:42
double fieldOfView
field of viewe [rad]
Definition gbxsickacfr/driver.h:40
std::string device
Serial device. e.g. "/dev/ttyS0".
Definition gbxsickacfr/driver.h:32
Data structure returned by read()
Definition gbxsickacfr/driver.h:49
std::string warnings
if 'haveWarnings' is set, 'warnings' will contain diagnostic information.
Definition gbxsickacfr/driver.h:61
SICK driver.
Definition gbxsickacfr/driver.h:66
void read(Data &data)
Definition gbxsickacfr/driver.cpp:574
Local interface to component status.
Definition status.h:254