SickS300 Class Reference

Gives access to a SICK laser scanner S300 Standard (not Professional!). More...

#include <laserSickS300.h>

Collaboration diagram for SickS300:

List of all members.

Signals
void	message (QString text)

Public Member Functions
int	closeComPort ()
float	getDistance (int angleIndex)
bool	openComPort ()
int	readRequestTelegram ()
int	readUnknownTelegram ()
bool	receiveChar (unsigned char *character)
bool	sendChar (unsigned char character)
void	setDevicePort (QString serialPort)
int	setup ()
	SickS300 ()
	~SickS300 ()

Private Attributes
int	baudRate
float	distances [540]
	if a measured laser distance is greater than this value in cm, it will be set to 0 cm! (This is due to a bug when reading angle 0)
QString	laserSerialPort
unsigned char	scanData [LASERSAMPLES]
DirecsSerial *	serialPort

Static Private Attributes
static const float	LASERMAXLENGTH = 2000
static const unsigned int	LASERSAMPLES = 1082
	the path to the serial device. e.g. /dev/ttyUSB0
static const bool	OFF = false
	For laser is "ON".
static const bool	ON = true

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Detailed Description

Gives access to a SICK laser scanner S300 Standard (not Professional!).

Author:

Markus Knapp

Definition at line 38 of file laserSickS300.h.

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Constructor & Destructor Documentation

SickS300::SickS300

(

)

Constructor

Definition at line 24 of file laserSickS300.cpp.

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SickS300::~SickS300

(

)

Destructor

Definition at line 62 of file laserSickS300.cpp.

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Member Function Documentation

int SickS300::closeComPort

(

)

Closes the serial port

Returns:

0 if things go well, and -1 otherwise.

Definition at line 111 of file laserSickS300.cpp.

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float SickS300::getDistance

(

int

angleIndex

)

Returns the measured distance of a specific laser angle index.

Parameters:

angleIndex

is the number of the angle. Since we have a half degree resolution, an angeleIndex of 0 means 0.0 deg, 1 means 0.5, 2 means 1.0 degrees, and so on.

Returns:

the distance

Definition at line 673 of file laserSickS300.cpp.

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void SickS300::message ( QString  text )

signal

Emits a info or error message to a slot. This slot can be used to display a text on a splash screen, log file, to print it to a console...

Parameters:

text	is the message to be emitted

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bool SickS300::openComPort

(

)

Opens a serial port/device. On POSIX systems this looks like "/dev/tty4" or "/dev/ttyUSB0".

Returns:

true on access or false if an error occured.

Definition at line 80 of file laserSickS300.cpp.

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int SickS300::readRequestTelegram

(

)

Reads a telegram from the laser scanner in the request mode.

Returns:

0 if things go well, and -1 otherwise.

Todo:

check laser S300 CRC !!

Definition at line 238 of file laserSickS300.cpp.

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int SickS300::readUnknownTelegram

(

)

Reads a special unknown telegram from the laser scanner in the request mode. It reads block 0B, but I don't know whats stored there...

Returns:

0 if things go well, and -1 otherwise.

Todo:

check laser S300 CRC !!

Definition at line 518 of file laserSickS300.cpp.

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bool SickS300::receiveChar

(

unsigned char *

character

)

Receives a character from the serial port/device.

Parameters:

character

Returns:

true on access or false if an error occured.

Definition at line 174 of file laserSickS300.cpp.

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bool SickS300::sendChar

(

unsigned char

character

)

Sends a character to the serial port/device.

Parameters:

character

Returns:

true on access or false if an error occured.

Definition at line 158 of file laserSickS300.cpp.

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void SickS300::setDevicePort

(

QString

serialPort

)

Sets the serial port. Has to be set before using

See also:

openComPort. On POSIX systems this looks like "/dev/tty4" or "/dev/ttyUSB0".

Definition at line 74 of file laserSickS300.cpp.

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int SickS300::setup

(

)

Set up the device.

Returns:

0 if things go well, and -1 otherwise.

Definition at line 189 of file laserSickS300.cpp.

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Member Data Documentation

int SickS300::baudRate

private

Definition at line 121 of file laserSickS300.h.

float SickS300::distances[540]

private

if a measured laser distance is greater than this value in cm, it will be set to 0 cm! (This is due to a bug when reading angle 0)

Definition at line 129 of file laserSickS300.h.

const float SickS300::LASERMAXLENGTH = 2000

staticprivate

Definition at line 127 of file laserSickS300.h.

const unsigned int SickS300::LASERSAMPLES = 1082

staticprivate

the path to the serial device. e.g. /dev/ttyUSB0

Definition at line 124 of file laserSickS300.h.

QString SickS300::laserSerialPort

private

Definition at line 122 of file laserSickS300.h.

const bool SickS300::OFF = false

staticprivate

For laser is "ON".

Definition at line 132 of file laserSickS300.h.

const bool SickS300::ON = true

staticprivate

Definition at line 131 of file laserSickS300.h.

unsigned char SickS300::scanData[LASERSAMPLES]

private

Definition at line 125 of file laserSickS300.h.

DirecsSerial* SickS300::serialPort

private

Definition at line 120 of file laserSickS300.h.

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The documentation for this class was generated from the following files:

• direcs/src/laserSickS300.h
• direcs/src/laserSickS300.cpp