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sickdefines.h /* * GearBox Project: Peer-Reviewed Open-Source Libraries for Robotics * http://gearbox.sf.net/ * Copyright (c) 2004-2008 Alex Brooks * * This distribution is licensed to you under the terms described in * the LICENSE file included in this distribution. * */ #ifndef SICK_ACFR_DRIVER_SICKDEFINES_H #define SICK_ACFR_DRIVER_SICKDEFINES_H #include <string> namespace gbxsickacfr { typedef unsigned char uChar; // // Random SICK crap // const uChar STX = 0x02; // Start of Text const uChar ACK = 0x06; const uChar NACK = 0x15; const uChar ADDRESS = 0x00; const int MAX_SICK_TELEGRAM_LENGTH = 812; // bytes const int MAX_RESPONSE_TIME_MS = 60; // // Command Types // const uChar CMD_INIT_AND_RESET = 0x10; const uChar CMD_SWITCH_OPERATING_MODE = 0x20; const uChar CMD_REQUEST_MEASURED_VALUES = 0x30; const uChar CMD_REQUEST_LMS_STATUS = 0x31; const uChar CMD_REQUEST_ERROR_OR_TEST_MESSAGE = 0x32; const uChar CMD_REQUEST_OPERATING_DATA_COUNTER = 0x35; const uChar CMD_REQUEST_MEAN_MEASURED_VALUES = 0x36; const uChar CMD_REQUEST_MEASURED_VALUE_SUBRANGE = 0x37; const uChar CMD_REQUEST_LMS_TYPE = 0x3A; const uChar CMD_SWITCH_VARIANT = 0x3B; const uChar CMD_REQUEST_MEASURED_VALUE_WITH_FIELD_VALUES = 0x3E; const uChar CMD_REQUEST_MEAN_MEASURED_VALUE_SUBRANGE = 0x3F; const uChar CMD_CONFIGURE_FIELDS = 0x40; const uChar CMD_SWITCH_ACTIVE_FIELD_SET = 0x41; const uChar CMD_CHANGE_PASSWORD = 0x42; const uChar CMD_REQUEST_MEASURED_VALUES_AND_REFLECTIVITY_VALUE_SUBRANGE = 0x44; const uChar CMD_REQUEST_CONFIGURED_FIELDS = 0x45; const uChar CMD_START_TEACH_MODE_FOR_FIELD_CONFIGURATION = 0x46; const uChar CMD_REQUEST_STATUS_OF_FIELD_OUTPUTS = 0x4A; const uChar CMD_DEFINE_PERMANENT_BAUD_RATE_OR_LMS_TYPE = 0x66; const uChar CMD_DEFINE_ANGULAR_RANGE_FOR_POSITIONING_AID = 0x69; const uChar CMD_REQUEST_LMS_CONFIGURATION = 0x74; const uChar CMD_REQUEST_MEASURED_VALUE_WITH_REFLECTIVITY_DATA = 0x75; const uChar CMD_REQUEST_MEASURED_VALUES_IN_CARTESIAN_COORDINATES = 0x76; const uChar CMD_CONFIGURE_LMS = 0x77; const uChar CMD_CONFIGURE_LMS_CONTINUED = 0x7C; // // Acknowledgement types // inline uChar ack( uChar command ) { return command + 0x80; } // Need to do this so they can be used in constant expressions (eg in switch stmts) const uChar ACK_INIT_AND_RESET = CMD_INIT_AND_RESET + 0x80; const uChar ACK_SWITCH_OPERATING_MODE = CMD_SWITCH_OPERATING_MODE + 0x80; const uChar ACK_REQUEST_MEASURED_VALUES = CMD_REQUEST_MEASURED_VALUES + 0x80; const uChar ACK_REQUEST_LMS_STATUS = CMD_REQUEST_LMS_STATUS + 0x80; const uChar ACK_REQUEST_ERROR_OR_TEST_MESSAGE = CMD_REQUEST_ERROR_OR_TEST_MESSAGE + 0x80; const uChar ACK_REQUEST_OPERATING_DATA_COUNTER = CMD_REQUEST_OPERATING_DATA_COUNTER + 0x80; const uChar ACK_REQUEST_MEAN_MEASURED_VALUES = CMD_REQUEST_MEAN_MEASURED_VALUES + 0x80; const uChar ACK_REQUEST_MEASURED_VALUE_SUBRANGE = CMD_REQUEST_MEASURED_VALUE_SUBRANGE + 0x80; const uChar ACK_REQUEST_LMS_TYPE = CMD_REQUEST_LMS_TYPE + 0x80; const uChar ACK_SWITCH_VARIANT = CMD_SWITCH_VARIANT + 0x80; const uChar ACK_REQUEST_MEASURED_VALUE_WITH_FIELD_VALUES = CMD_REQUEST_MEASURED_VALUE_WITH_FIELD_VALUES + 0x80; const uChar ACK_REQUEST_MEAN_MEASURED_VALUE_SUBRANGE = CMD_REQUEST_MEAN_MEASURED_VALUE_SUBRANGE + 0x80; const uChar ACK_CONFIGURE_FIELDS = CMD_CONFIGURE_FIELDS + 0x80; const uChar ACK_SWITCH_ACTIVE_FIELD_SET = CMD_SWITCH_ACTIVE_FIELD_SET + 0x80; const uChar ACK_CHANGE_PASSWORD = CMD_CHANGE_PASSWORD + 0x80; const uChar ACK_REQUEST_MEASURED_VALUES_AND_REFLECTIVITY_VALUE_SUBRANGE = CMD_REQUEST_MEASURED_VALUES_AND_REFLECTIVITY_VALUE_SUBRANGE + 0x80; const uChar ACK_REQUEST_CONFIGURED_FIELDS = CMD_REQUEST_CONFIGURED_FIELDS + 0x80; const uChar ACK_START_TEACH_MODE_FOR_FIELD_CONFIGURATION = CMD_START_TEACH_MODE_FOR_FIELD_CONFIGURATION + 0x80; const uChar ACK_REQUEST_STATUS_OF_FIELD_OUTPUTS = CMD_REQUEST_STATUS_OF_FIELD_OUTPUTS + 0x80; const uChar ACK_DEFINE_PERMANENT_BAUD_RATE_OR_LMS_TYPE = CMD_DEFINE_PERMANENT_BAUD_RATE_OR_LMS_TYPE + 0x80; const uChar ACK_DEFINE_ANGULAR_RANGE_FOR_POSITIONING_AID = CMD_DEFINE_ANGULAR_RANGE_FOR_POSITIONING_AID + 0x80; const uChar ACK_REQUEST_LMS_CONFIGURATION = CMD_REQUEST_LMS_CONFIGURATION + 0x80; const uChar ACK_REQUEST_MEASURED_VALUE_WITH_REFLECTIVITY_DATA = CMD_REQUEST_MEASURED_VALUE_WITH_REFLECTIVITY_DATA + 0x80; const uChar ACK_REQUEST_MEASURED_VALUES_IN_CARTESIAN_COORDINATES = CMD_REQUEST_MEASURED_VALUES_IN_CARTESIAN_COORDINATES + 0x80; const uChar ACK_CONFIGURE_LMS = CMD_CONFIGURE_LMS + 0x80; const uChar ACK_CONFIGURE_LMS_CONTINUED = CMD_CONFIGURE_LMS_CONTINUED + 0x80; // Response Types (in addition to acknowledgement types) const uChar RESP_SOFTWARE_RESET_CONFIRM = 0x91; const uChar RESP_INCORRECT_COMMAND = 0x92; std::string cmdToString( uChar command ); // // Operating Modes // const uChar OPERATING_MODE_INSTALLATION = 0x00; const uChar OPERATING_MODE_DIAGNOSIS = 0x10; const uChar OPERATING_MODE_MIN_MEASURED_CONTINUOUS = 0x20; const uChar OPERATING_MODE_MIN_MEASURED_IN_FIELD = 0x21; const uChar OPERATING_MODE_MIN_VERTICAL_DISTANCE_CONTINUOUS = 0x22; const uChar OPERATING_MODE_MIN_VERTICAL_DISTANCE_IN_FIELD = 0x23; const uChar OPERATING_MODE_ALL_MEASURED_CONTINUOUS = 0x24; const uChar OPERATING_MODE_MEASURED_ON_REQUEST = 0x25; // (this is the default setting) const uChar OPERATING_MODE_MEAN_MEASURED_CONTINUOUS = 0x26; const uChar OPERATING_MODE_MEASURED_SUBRANGE_CONTINUOUS = 0x27; const uChar OPERATING_MODE_MEAN_MEASURED_SUBRANGE_CONTINUOUS = 0x28; const uChar OPERATING_MODE_MEASURED_WITH_FIELD_VALUES_CONTINUOUS = 0x29; const uChar OPERATING_MODE_MEASURED_PARTIAL_CONTINUOUS = 0x2A; const uChar OPERATING_MODE_MEASURED_N_PARTIAL_CONTINUOUS = 0x2B; const uChar OPERATING_MODE_MEASURED_PER_SEGMENT_CONTINUOUS = 0x2C; const uChar OPERATING_MODE_NAV_DATA_RECORDS = 0x2E; const uChar OPERATING_MODE_ALL_MEASURED_PLUS_REFLECTIVITY_SUBRANGE_CONTINUOUS = 0x50; const uChar OPERATING_MODE_TEST_PASSWORD = 0x30; const uChar OPERATING_MODE_SET_BAUDRATE_38400 = 0x40; const uChar OPERATING_MODE_SET_BAUDRATE_19200 = 0x41; const uChar OPERATING_MODE_SET_BAUDRATE_9600 = 0x42; const uChar OPERATING_MODE_SET_BAUDRATE_500000 = 0x48; std::string operatingModeToString( uChar operatingMode ); // // Operating Mode Response Data // const uChar OPERATING_MODE_RESPONSE_SUCCESS = 0x00; const uChar OPERATING_MODE_RESPONSE_FAIL = 0x01; // // Status Response Data Stuff // const int VERSION_LENGTH = 6; const int SOFTWARE_VERSION_LENGTH = 6; const int MANUFACTURER_LENGTH = 8; const int POLLUTION_LENGTH = 8; const int REF_POLLUTION_LENGTH = 4; const int CALIB_POLLUTION_LENGTH = 8; const int CALIB_REF_POLLUTION_LENGTH = 4; // // Measuring Modes // const uChar MEASURING_MODE_8m80m_FIELD_AB_DAZZLE = 0x00; // (default value) const uChar MEASURING_MODE_8m80m_REFLECTOR8LEVELS = 0x01; const uChar MEASURING_MODE_8m80m_FIELD_ABC = 0x02; const uChar MEASURING_MODE_16m_REFLECTOR4LEVELS = 0x03; const uChar MEASURING_MODE_16m_FIELD_AB = 0x04; const uChar MEASURING_MODE_32m_FIELD_AB = 0x05; const uChar MEASURING_MODE_32m_FIELD_A = 0x06; std::string measuringModeToString( uChar mode ); // // Status Codes // const uChar STATUS_GENERAL_MASK = 0x07; // These apply to the lower 3 bits as masked by STATUS_GENERAL_MASK const uChar STATUS_OK = 0x00; const uChar STATUS_INFO = 0x01; const uChar STATUS_WARNING = 0x02; const uChar STATUS_ERROR = 0x03; const uChar STATUS_FATAL_ERROR = 0x04; // one-bit masks const uChar STATUS_RESTART_MASK = 0x20; const uChar STATUS_IMPLAUSIBLE_MEASURED_VALUES_MASK = 0x30; const uChar STATUS_POLLUTION_MASK = 0x80; std::string statusToString( uChar status ); bool generalStatusIsWarn( uChar generalStatus ); bool generalStatusIsError( uChar generalStatus ); // // Status Codes // const uChar MODE_SWITCH_SUCCESS_OK = 0x00; const uChar MODE_SWITCH_FAIL_BAD_PASSWORD = 0x01; const uChar MODE_SWITCH_FAIL_LMS_FAULT = 0x02; std::string modeSwitchSuccessToString( uChar success ); // // Measurement units // const uChar MEASURED_VALUE_UNIT_CM = 0x00; const uChar MEASURED_VALUE_UNIT_MM = 0x01; std::string measuredValueUnitToString( uChar unit ); // // Angular Resolution and scanning angle // const uint16_t ANGULAR_RESOLUTION_1_0_DEG = 100; const uint16_t ANGULAR_RESOLUTION_0_5_DEG = 50; const uint16_t ANGULAR_RESOLUTION_0_25_DEG = 25; inline double angularResolutionToDoubleInDegrees( uint16_t angularResolution ) { return angularResolution/100.0; } const uint16_t SCANNING_ANGLE_180 = 180; const uint16_t SCANNING_ANGLE_100 = 100; const uChar SWITCH_VARIANT_SUCCESS = 0x01; const uChar SWITCH_VARIANT_FAIL = 0x00; std::string switchVariantSuccessToString( uChar success ); // // Sensitivity // const uChar SENSITIVITY_STANDARD = 0x00; // between medium and high const uChar SENSITIVITY_MEDIUM = 0x01; const uChar SENSITIVITY_LOW = 0x02; const uChar SENSITIVITY_HIGH = 0x03; std::string sensitivityToString( uChar sens ); // // Configuration success // const uChar CONFIGURATION_SUCCESS = 0x01; const uChar CONFIGURATION_FAIL = 0x00; std::string configurationSuccessToString( uChar success ); // // Baud rates // // returns -1 on error int baudRateToInt( uint16_t baudRate ); uChar baudRateIntToOperatingMode( int baudRate ); std::string permanentBaudRateToString( uChar permanentBaudRate ); // // Error codes // const uChar ERROR_TYPE_NO_LONGER_RELEVANT_MASK = 0x80; const uChar ERROR_CODE_DAZZLE_TEST = 05; const uChar ERROR_CODE_PEAK_COMPARATOR_TEST = 06; const uChar ERROR_CODE_STOP_COMPARATOR_TEST = 07; const uChar ERROR_CODE_TDC_INIT_AND_GATE_FUNCTION_TEST = 15; const uChar ERROR_CODE_POLLUTION_EVALUATION_OIL_CHANNEL_1 = 17; const uChar ERROR_CODE_POLLUTION_EVALUATION_DIRT_CHANNEL_1 = 18; const uChar ERROR_CODE_POLLUTION_EVALUATION_DIRT_CHANNEL_2 = 19; const uChar ERROR_CODE_POLLUTION_EVALUATION_OIL_CHANNEL_2 = 20; const uChar ERROR_CODE_POLLUTION_EVALUATION_REF_CHANNEL_0 = 21; const uChar ERROR_CODE_POLLUTION_EVALUATION_REF_CHANNEL_1 = 22; const uChar ERROR_CODE_OUTPUT_A_DEFECTIVE = 27; const uChar ERROR_CODE_OUTPUT_B_DEFECTIVE = 28; const uChar ERROR_CODE_NUM_MOTOR_REVOLUTIONS = 29; const uChar ERROR_CODE_CALIBRATION_POLLUTION = 37; const uChar ERROR_CODE_TIMEOUT_ON_TDC_CALIBRATION = 39; const uChar ERROR_CODE_1_MEASUREMENT_VALUE_MISSING = 45; const uChar ERROR_CODE_1_SCAN_MISSING_SCAN_LASTS_TOO_LONG = 46; const uChar ERROR_CODE_REFERENCE_TARGET_LOAD_PULSE_WIDTH_IMPLAUSIBLE = 47; const uChar ERROR_CODE_CALIBRATION_OF_LASER_POWER = 48; const uChar ERROR_CODE_LASER_POWER_OUTSIDE_50_PCT_140_PCT = 49; const uChar ERROR_CODE_INITIALISATION_TDC_MO_CHANNEL_0_AND_1 = 50; const uChar ERROR_CODE_DA_AD_TEST_STOP_BRANCH = 51; const uChar ERROR_CODE_DA_AD_TEST_PEAK_BRANCH = 52; const uChar ERROR_CODE_FLASH_WRITTEN = 53; const uChar ERROR_CODE_POLLUTION_CHANNEL_MEASUREMENT_WITHOUT_ACTIVE_TRANSMITTER = 54; const uChar ERROR_CODE_NO_TWO_DIFFERENT_ANGLES_DETECTED_ON_LASER_POWER_CALIBRATION = 55; const uChar ERROR_CODE_HARDWARE_WATCHDOG_DEFECTIVE = 56; const uChar ERROR_CODE_NO_ZERO_INDEX_SIGNAL_AVAILABLE = 57; const uChar ERROR_CODE_SLAVE_CANNOT_SYNC_DURING_INIT = 58; const uChar ERROR_CODE_SYNC_LOST_IN_OPERATING_STATE = 59; const uChar ERROR_CODE_SYNC_CYCLE_FROM_MASTER_MISSING = 60; const uChar ERROR_CODE_HARDWARE_UNSUITABLE_FOR_SYNC_IN_SLAVE_OPERATING_MODE = 61; const uChar ERROR_CODE_WRONG_DIP_SWITCH_POSITION = 62; const uChar ERROR_CODE_REF_TARGET_SMALLEST_PULSE_WIDTH_TOO_SMALL = 86; const uChar ERROR_CODE_REF_TARGET_LARGEST_PULSE_WIDTH_TOO_LARGE = 87; const uChar ERROR_CODE_REF_TARGET_PULSE_WIDTH_SPECTRUM_TOO_LARGE = 88; const uChar ERROR_CODE_REF_TARGET_REF_TABLE_LESS_THAN_2_CYCLES_UPDATE = 89; const uChar ERROR_CODE_REF_TARGET_REFLECTIVITY_MEASUREMENT_CANNOT_BE_CALIBRATED = 91; const uChar ERROR_CODE_REF_TARGET_TEACH_IN_MODE_IS_NOT_COMPLETED = 92; const uChar ERROR_CODE_OUT_OF_MEMORY_IN_MEASUREMENT_ROUTINE = 124; const uChar ERROR_CODE_OUT_OF_MEMORY_IN_REFERENCE_TARGET_ROUTINE = 125; const uChar ERROR_CODE_OUT_OF_MEMORY_IN_REFERENCE_TARGET_ANGULAR_TABLE = 126; std::string errorTypeToString( uChar errorType ); bool errorTypeIsWarn( uChar errorType ); bool errorTypeIsError( uChar errorType ); std::string errorCodeToString( uChar errorCode ); } #endif

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