SickLms200.h

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//
// Copyright (c) 2009, Markus Rickert
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
//   this list of conditions and the following disclaimer in the documentation
//   and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
 
#ifndef RL_HAL_SICKLMS200_H
#define RL_HAL_SICKLMS200_H
 
#include <array>
#include <cstdint>
 
#include "CyclicDevice.h"
#include "Device.h"
#include "Lidar.h"
#include "Serial.h"
 
namespace rl
{
    namespace hal
    {
        class SickLms200 : public CyclicDevice, public Lidar
        {
        public:
            enum BaudRate
            {
                BAUDRATE_9600BPS,
                BAUDRATE_19200BPS,
#if defined(WIN32) || defined(__QNX__)
                BAUDRATE_38400BPS
#else // defined(WIN32) || defined(__QNX__)
                BAUDRATE_38400BPS,
                BAUDRATE_500000BPS
#endif // defined(WIN32) || defined(__QNX__)
            };
            
            enum Measuring
            {
                MEASURING_8M,
                MEASURING_16M,
                MEASURING_32M,
                MEASURING_80M,
                MEASURING_160M,
                MEASURING_320M
            };
            
            enum Monitoring
            {
                MONITORING_CONTINUOUS,
                MONITORING_SINGLE
            };
            
            enum Variant
            {
                VARIANT_100_25,
                VARIANT_100_50,
                VARIANT_100_100,
                VARIANT_180_50,
                VARIANT_180_100
            };
            
            SickLms200(
                const ::std::string& device = "/dev/ttyS0",
                const BaudRate& baudRate = BAUDRATE_9600BPS,
                const Monitoring& monitoring = MONITORING_SINGLE,
                const Variant& variant = VARIANT_180_50,
                const Measuring& measuring = MEASURING_8M,
                const ::std::string& password = "SICK_LMS"
            );
            
            virtual ~SickLms200();
            
            void close();
            
            void dumpConfiguration();
            
            void dumpStatus();
            
            BaudRate getBaudRate() const;
            
            ::rl::math::Vector getDistances() const;
            
            ::std::size_t getDistancesCount() const;
            
            ::rl::math::Real getDistancesMaximum(const ::std::size_t& i) const;
            
            ::rl::math::Real getDistancesMinimum(const ::std::size_t& i) const;
            
            Measuring getMeasuring() const;
            
            Monitoring getMonitoring() const;
            
            ::rl::math::Real getResolution() const;
            
            ::rl::math::Real getStartAngle() const;
            
            ::rl::math::Real getStopAngle() const;
            
            ::std::string getType();
            
            Variant getVariant() const;
            
            void open();
            
            void reset();
            
            void setBaudRate(const BaudRate& baudRate);
            
            void setMeasuring(const Measuring& measuring);
            
            void setMonitoring(const Monitoring& monitoring);
            
            void setVariant(const Variant& variant);
            
            void start();
            
            void step();
            
            void stop();
            
        protected:
            
        private:
            ::std::uint16_t crc(const ::std::uint8_t* buf, const ::std::size_t& len) const;
            
            ::std::size_t recv(::std::uint8_t* buf, const ::std::size_t& len, const ::std::uint8_t& command);
            
            void send(::std::uint8_t* buf, const ::std::size_t& len);
            
            bool waitAck();
            
            BaudRate baudRate;
            
            ::std::uint8_t configuration;
            
            ::std::array< ::std::uint8_t, 812> data;
            
            BaudRate desired;
            
            Measuring measuring;
            
            Monitoring monitoring;
            
            ::std::string password;
            
            Serial serial;
            
            Variant variant;
        };
    }
}
 
#endif // RL_HAL_SICKLMS200_H