source: pacpussensors/trunk/Sick/SickLMSData.h@ 69

Last change on this file since 69 was 61, checked in by DHERBOMEZ Gérald, 10 years ago

commit after experiments on track
Issue with GPS receiver, no data recorded
File size: 5.7 KB
RevLine 
[37]1/*********************************************************************
2// created: 2014/02/11 - 12:08
3// filename: SickLMSData.cpp
4//
5// author: Cyril Fougeray
6// Copyright Heudiasyc UMR UTC/CNRS 6599
7//
8// version: $Id: $
9//
10// purpose: Structures to store Sick LMS data
11//
12*********************************************************************/
13
14#ifndef __SICKLMS_DATA_H__
15#define __SICKLMS_DATA_H__
16
17#include "Pacpus/kernel/cstdint.h"
18#include "Pacpus/kernel/road_time.h"
19
20// Export macro for SickLMS DLL for Windows only
21#ifdef WIN32
22# ifdef SICKLMS_EXPORTS
23 // make DLL
24# define SICKLMS_API __declspec(dllexport)
25# else
26 // use DLL
27# define SICKLMS_API __declspec(dllimport)
28# endif
29#else
30 // On other platforms, simply ignore this
31# define SICKLMS_API
32#endif
33
34
35namespace pacpus{
36
37/*!
38* \brief Structure containing scan configuration.
39* \author Based on Konrad Banachowicz work.
40*/
41typedef struct _scanCfg {
42 /*!
43 * \brief Scanning frequency.
44 * 1/100 Hz
45 */
46 int scaningFrequency;
47
48 /*!
49 * \brief Scanning resolution.
50 * 1/10000 degree
51 */
52 int angleResolution;
53
54 /*!
55 * \brief Start angle.
56 * 1/10000 degree
57 */
58 int startAngle;
59
60 /*!
61 * \brief Stop angle.
62 * 1/10000 degree
63 */
64 int stopAngle;
65} scanCfg;
66
67
68/*!
69* \brief Structure containing single scan message.
70* \author Based on Konrad Banachowicz work.
71*/
72typedef struct _scanData {
73
74 /*!
75 * \brief Scanning frequency.
76 * 1/100 Hz
77 */
[61]78 uint32_t scanFrequency;
[37]79
80 /*!
81 * \brief Scanning resolution.
82 * 1/10000 degree
83 */
[61]84 uint32_t angleResolution;
[37]85
86 /*!
87 * \brief Start angle.
88 * 1/10000 degree
89 */
90 int32_t startAngle;
91
92 /////////////////////////////////////////////////////
93 ////////////////// LMS1xx & LMS5xx //////////////////
94
95 /*!
96 * \brief Number of samples in dist1.
97 *
98 */
99 int dist_len1;
100
101 /*!
102 * \brief Radial distance for the first reflected pulse
103 *
104 */
105 uint16_t* dist1;
106
107 /*!
108 * \brief Number of samples in dist2.
109 *
110 */
111 int dist_len2;
112
113 /*!
114 * \brief Radial distance for the second reflected pulse
115 *
116 */
117 uint16_t* dist2;
118
119
120 /////////////////////////////////////////////////////
121 ////////////////// LMS5xx only //////////////////
122
123 /*!
124 * \brief Number of samples in dist3.
125 *
126 */
127 int dist_len3;
128
129 /*!
130 * \brief Radial distance for the first reflected pulse
131 *
132 */
133 uint16_t* dist3;
134
135 /*!
136 * \brief Number of samples in dist4.
137 *
138 */
139 int dist_len4;
140
141 /*!
142 * \brief Radial distance for the second reflected pulse
143 *
144 */
145 uint16_t* dist4;
146
147 /*!
148 * \brief Number of samples in dist5.
149 *
150 */
151 int dist_len5;
152
153 /*!
154 * \brief Radial distance for the second reflected pulse
155 *
156 */
157 uint16_t* dist5;
158
159
160 /////////////////////////////////////////////////////
161 ////////////////// LMS1xx only //////////////////
162
163 /*!
164 * \brief Number of samples in rssi1.
165 *
166 */
167 int rssi_len1;
168
169 /*!
170 * \brief Energy values for the first reflected pulse
171 *
172 */
173 uint16_t* rssi1;
174
175 /*!
176 * \brief Number of samples in rssi2.
177 *
178 */
179 int rssi_len2;
180
181 /*!
182 * \brief Energy values for the second reflected pulse
183 *
184 */
185 uint16_t* rssi2;
186} scanData;
187
188
189/*!
190 * \brief Status of the scanner
191 */
192typedef enum {
193 undefined = 0,
194 initialisation = 1,
195 configuration = 2,
196 idle = 3,
197 rotated = 4,
198 in_preparation = 5,
199 ready = 6,
200 ready_for_measurement = 7
201} status_t;
202
203
204typedef struct{
[61]205 uint16_t scanNumber; //!< number of the scan
206 uint16_t scannerStatus;
[37]207 //!< - 00 00 OK
208 //!< - 00 01 Error
209 //!< - 00 02 Pollution Warning
210 //!< - 00 04 Pollution Error
211
212 road_time_t time; //!< DBT timestamp
213 road_timerange_t timerange; //!< DBT timerange
[61]214 uint32_t scanFrequency; //!< Frequency of the scan [1/100 Hz]
215 uint32_t angleResolution; //!< Angle resolution (default is 5000 <=> 0.5 degree) [1/10000 degree]
[37]216 int32_t startAngle; //!< Angle of the first scanned point.
217 int dist_len1; //!< Number of points (1st echo).
218 uint32_t dataPos_dist1; //!< Distance between the sensor and the remote point (1st echo).
219 int dist_len2; //!< Number of points (2nd echo).
220 uint32_t dataPos_dist2; //!< Distance between the sensor and the remote point (2nd echo).
221 int dist_len3; //!< Number of points (3rd echo).
222 uint32_t dataPos_dist3; //!< Distance between the sensor and the remote point (3rd echo). @b LMS5xx @b only.
223 int dist_len4; //!< Number of points (4th echo).
224 uint32_t dataPos_dist4; //!< Distance between the sensor and the remote point (4th echo). @b LMS5xx @b only.
225 int dist_len5; //!< Number of points (5th echo).
226 uint32_t dataPos_dist5; //!< Distance between the sensor and the remote point (5th echo). @b LMS5xx @b only.
227 int rssi_len1; //!< Number of energy values (1st echo).
228 uint32_t dataPos_rssi1; //!< Energy of the returned pulse (1st echo). @b LMS1xx @b only.
229 int rssi_len2; //!< Number of energy values (2nd echo).
230 uint32_t dataPos_rssi2; //!< Energy of the returned pulse (2nd echo). @b LMS1xx @b only.
231}SickLMS_dbt;
232
233}
234#endif
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