LaserDevice.h

Go to the documentation of this file.

// Copyright (C) 2002 Mathieu Lemay


#ifndef LASERDEVICE_H
#define LASERDEVICE_H

namespace RobotFlow {

enum eMeasurementMode {
   E_MMODE_MM,
   E_MMODE_CM,
};


class LaserDevice
{
   // Friend function
   friend  void* receive_threadLaser (void *myLaser);

  public:
   // Constructor
   LaserDevice(std::string serial_port);

   // Destructor
   ~LaserDevice();

   // Establish communication whit LMS
   // Search the good serial baudrate
   bool  EstablishCommunication();

   // Analyse continious data
   // ** datalen needs to be 301  **
   bool  ReadLaserData(unsigned short *data, unsigned long datalen);

   // Set the measurement mode of the laser
   int  SetLaserMeasurement(eMeasurementMode eMeasureMode, bool bIntensity);

   // Set the resolution of the laser
   // ** Must be an angular range of 180 degree **
   // ** angular resolution of 0.5 degree       **
   bool  SetLaserResolution(int width, int res);

   // Set the baudrate of the laser
   bool  SetLaserSpeed(int speed);

   // Start the continious data acquisition
   bool  StartDataAcquisition();

   // Stop the continious data acquisition
   bool  StopDataAcquisition();


  private:

   // Change the serial baudrate
   int SetSerialBaudrate(int nBaudrate);

   // Create a CRC
   unsigned short CreateCRC(unsigned char* data, unsigned long len);

   // Close session of the serial port
   void  End_session(int fd);

   // Initialise the serial port
   int   Port_initialisation(const char *serial_port);

   // Analyse answer of the laser
   int  ReadFromLaser(unsigned char* data, unsigned long maxLen, bool ack, bool timeout);

   // Use by the Receive_thread
   // Read data on serial port
   void  Receive();

   // Set the laser in Setting Mode to switch the measerement mode
   // Call at first in the SetLaserMeasurement function
   bool  SetLaserMode();

   // Write data on serial port
   int   WriteToLaser(unsigned char* data, unsigned long len);

   /////////////////////////////////////////////////////////////////////////////
   // Variables
   //
   int               m_Laser_fd;
   int               m_killed;
   unsigned short*   m_pLastDataBuffer;

   pthread_t         m_Receiving_thread;
   pthread_mutex_t   m_list_lock;
   std::list<std::string>      m_received;
};

}//namespace RobotFlow
#endif

---