laserSickS300.h

Go to the documentation of this file.

/*************************************************************************
*   Copyright (C) Markus Knapp                                          *
*   www.direcs.de                                                       *
*                                                                       *
*   This file is part of direcs.                                        *
*                                                                       *
*   direcs is free software: you can redistribute it and/or modify it   *
*   under the terms of the GNU General Public License as published      *
*   by the Free Software Foundation, version 3 of the License.          *
*                                                                       *
*   direcs is distributed in the hope that it will be useful,           *
*   but WITHOUT ANY WARRANTY; without even the implied warranty of      *
*   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the        *
*   GNU General Public License for more details.                        *
*                                                                       *
*   You should have received a copy of the GNU General Public License   *
*   along with direcs. If not, see <http://www.gnu.org/licenses/>.      *
*                                                                       *
*************************************************************************/

#ifndef LASERSICKS300_H
#define LASERSICKS300_H

#include <QtGlobal> // for Q_OS_* Makro!
#include <QObject>
#include <QDebug>
#include <QFile>
#include <QTime>


#include "direcsSerial.h"


class SickS300 : public QObject
{
        Q_OBJECT

        public:
                SickS300();

                ~SickS300();

                int setup();

                int readRequestTelegram();

                int readUnknownTelegram();

                void setDevicePort(QString serialPort);

                bool openComPort();

                int closeComPort();

                bool sendChar(unsigned char character);

                bool receiveChar(unsigned char *character);

                float getDistance(int angleIndex);


        signals:
                void message(QString text);


        private:
                DirecsSerial *serialPort;
                int baudRate;
                QString laserSerialPort; 

                static const unsigned int LASERSAMPLES = 1082;
                unsigned char scanData[LASERSAMPLES];

                static const float LASERMAXLENGTH = 2000; 

                float distances[540]; // 540 is the maximum of this laserscanner, because we have 270 degrees at a resolution of 0.5

                static const bool ON  = true;   
                static const bool OFF = false;  
};

#endif