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hokuyo_aist.h /* * GearBox Project: Peer-Reviewed Open-Source Libraries for Robotics * http://gearbox.sf.net/ * Copyright (c) 2008 Geoffrey Biggs * * hokuyo_aist Hokuyo laser scanner driver. * * This distribution is licensed to you under the terms described in the LICENSE file included in * this distribution. * * This work is a product of the National Institute of Advanced Industrial Science and Technology, * Japan. Registration number: H20PRO-880 * * This file is part of hokuyo_aist. * * hokuyo_aist is free software: you can redistribute it and/or modify it under the terms of the GNU * Lesser General Public License as published by the Free Software Foundation, either version 3 of * the License, or (at your option) any later version. * * hokuyo_aist 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 * Lesser General Public License for more details. * * You should have received a copy of the GNU Lesser General Public License along with hokuyo_aist. * If not, see <http://www.gnu.org/licenses/>. */ #ifndef __HOKUYO_AIST_H #define __HOKUYO_AIST_H #include <flexiport/port.h> #include <string> #if defined (WIN32) typedef unsigned char uint8_t; typedef unsigned int uint32_t; #if defined (HOKUYO_AIST_EXPORTS) #define HOKUYO_AIST_EXPORT __declspec (dllexport) #else #define HOKUYO_AIST_EXPORT __declspec (dllimport) #endif #else #include <stdint.h> #define HOKUYO_AIST_EXPORT #endif namespace hokuyo_aist { class HOKUYO_AIST_EXPORT HokuyoError : public std::exception { public: HokuyoError (unsigned int code, std::string desc) : _errorCode (code), _errorDesc (desc) {} virtual ~HokuyoError (void) throw () {}; virtual unsigned int Code (void) const throw () { return _errorCode; } virtual const char* what (void) const throw () { return _errorDesc.c_str (); } virtual std::string AsString (void) const throw(); private: unsigned int _errorCode; std::string _errorDesc; }; #if defined (WIN32) // Exporting data members on Windows is a bloody pain (they have to be initialised somewhere else), // so we'll use #define's on Win32 and lose the type safety. #define HOKUYO_ERR_READ 1 #define HOKUYO_ERR_WRITE 2 #define HOKUYO_ERR_PROTOCOL 3 #define HOKUYO_ERR_CHANGEBAUD 4 #define HOKUYO_ERR_CONNECT_FAILED 5 #define HOKUYO_ERR_CLOSE_FAILED 6 #define HOKUYO_ERR_NODESTINATION 7 #define HOKUYO_ERR_BADFIRMWARE 8 #define HOKUYO_ERR_SCIPVERSION 9 #define HOKUYO_ERR_MEMORY 10 #define HOKUYO_ERR_UNSUPPORTED 11 #define HOKUYO_ERR_BADARG 12 #define HOKUYO_ERR_NODATA 13 #define HOKUYO_ERR_NOTSERIAL 14 #else const unsigned int HOKUYO_ERR_READ = 1; const unsigned int HOKUYO_ERR_WRITE = 2; const unsigned int HOKUYO_ERR_PROTOCOL = 3; const unsigned int HOKUYO_ERR_CHANGEBAUD = 4; const unsigned int HOKUYO_ERR_CONNECT_FAILED = 5; const unsigned int HOKUYO_ERR_CLOSE_FAILED = 6; const unsigned int HOKUYO_ERR_NODESTINATION = 7; const unsigned int HOKUYO_ERR_BADFIRMWARE = 8; const unsigned int HOKUYO_ERR_SCIPVERSION = 9; const unsigned int HOKUYO_ERR_MEMORY = 10; const unsigned int HOKUYO_ERR_UNSUPPORTED = 11; const unsigned int HOKUYO_ERR_BADARG = 12; const unsigned int HOKUYO_ERR_NODATA = 13; const unsigned int HOKUYO_ERR_NOTSERIAL = 14; #endif // defined (WIN32) class HOKUYO_AIST_EXPORT HokuyoSensorInfo { public: friend class HokuyoLaser; HokuyoSensorInfo (void); HokuyoSensorInfo (const HokuyoSensorInfo &rhs); HokuyoSensorInfo& operator= (const HokuyoSensorInfo &rhs); std::string AsString (void); // Version details. std::string vendor; std::string product; std::string firmware; std::string protocol; std::string serial; // Specification details. std::string model; unsigned int minRange; unsigned int maxRange; unsigned int steps; unsigned int firstStep; unsigned int lastStep; unsigned int frontStep; unsigned int standardSpeed; // Status details. bool power; unsigned int speed; unsigned short speedLevel; std::string measureState; unsigned int baud; unsigned int time; std::string sensorDiagnostic; // Calculated details double minAngle; double maxAngle; double resolution; unsigned int scanableSteps; private: void SetDefaults (void); void CalculateValues (void); }; class HOKUYO_AIST_EXPORT HokuyoData { public: friend class HokuyoLaser; HokuyoData (void); HokuyoData (uint32_t *ranges, unsigned int length, bool error, unsigned int time); HokuyoData (uint32_t *ranges, uint32_t *intensities, unsigned int length, bool error, unsigned int time); HokuyoData (const HokuyoData &rhs); ~HokuyoData (void); const uint32_t* Ranges (void) const { return _ranges; } const uint32_t* Intensities (void) const { return _intensities; } unsigned int Length (void) const { return _length; } bool GetErrorStatus (void) const { return _error; } std::string ErrorCodeToString (uint32_t errorCode); unsigned int TimeStamp (void) const { return _time; } HokuyoData& operator= (const HokuyoData &rhs); uint32_t operator[] (unsigned int index); std::string AsString (void); void CleanUp (void); protected: uint32_t *_ranges; uint32_t *_intensities; unsigned int _length; bool _error; unsigned int _time; bool _sensorIsUTM30LX; void AllocateData (unsigned int length, bool includeIntensities = false); }; class HOKUYO_AIST_EXPORT HokuyoLaser { public: HokuyoLaser (void); ~HokuyoLaser (void); void Open (std::string portOptions); void Close (void); bool IsOpen (void) const; void SetPower (bool on); void SetBaud (unsigned int baud); void Reset (void); void SetMotorSpeed (unsigned int speed); void SetHighSensitivity (bool on); void GetSensorInfo (HokuyoSensorInfo *info); unsigned int GetTime (void); unsigned int GetRanges (HokuyoData *data, int startStep = -1, int endStep = -1, unsigned int clusterCount = 1); unsigned int GetRangesByAngle (HokuyoData *data, double startAngle, double endAngle, unsigned int clusterCount = 1); unsigned int GetNewRanges (HokuyoData *data, int startStep = -1, int endStep = -1, unsigned int clusterCount = 1); unsigned int GetNewRangesByAngle (HokuyoData *data, double startAngle, double endAngle, unsigned int clusterCount = 1); unsigned int GetNewRangesAndIntensities (HokuyoData *data, int startStep = -1, int endStep = -1, unsigned int clusterCount = 1); unsigned int GetNewRangesAndIntensitiesByAngle (HokuyoData *data, double startAngle, double endAngle, unsigned int clusterCount = 1); uint8_t SCIPVersion (void) const { return _scipVersion; } void SetVerbose (bool verbose) { _verbose = verbose; } double StepToAngle (unsigned int step); unsigned int AngleToStep (double angle); private: flexiport::Port *_port; uint8_t _scipVersion; bool _verbose, _sensorIsUTM30LX; double _minAngle, _maxAngle, _resolution; int _firstStep, _lastStep, _frontStep; unsigned int _maxRange; void ClearReadBuffer (void); int ReadLine (char *buffer, int expectedLength = -1); int ReadLineWithCheck (char *buffer, int expectedLength = -1, bool hasSemicolon = false); void SkipLines (int count); int SendCommand (const char *cmd, const char *param, int paramLength, const char *extraOK); void GetAndSetSCIPVersion (void); void GetDefaults (void); void Read2ByteRangeData (HokuyoData *data, unsigned int numSteps); void Read3ByteRangeData (HokuyoData *data, unsigned int numSteps); void Read3ByteRangeAndIntensityData (HokuyoData *data, unsigned int numSteps); }; } // namespace hokuyo_aist #endif // __HOKUYO_AIST_H

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