Changeset 104 in pacpussensors for trunk/Sick

Timestamp:

Nov 22, 2015, 11:00:29 PM (9 years ago)

Author:

xuphilip

Message:

Updated I/O for Sick LDMRS

File:

• trunk/Sick/SickLDMRSData.h (modified) (5 diffs)

trunk/Sick/SickLDMRSData.h

@@ -17 +17 @@
 #include "Pacpus/kernel/cstdint.h"
 #include "Pacpus/kernel/road_time.h"
+#include <QVector>
 
 // Export macro for SickLDMRS DLL for Windows only
@@ -83 +84 @@
     uint64_t endNtpTime;   //!< NTP time last measurement
     uint16_t ticksPerRot;  //!< Angle ticks per rotation (used to compute the real angle of a point)
-    int16_t startAngle;     //!< Angle of the first measured value
-    int16_t endAngle;       //!< Angle of the last measured value
+    int16_t  startAngle;     //!< Angle of the first measured value
+    int16_t  endAngle;       //!< Angle of the last measured value
     uint16_t numPoints;    //!< Number of scanned points during this scan @see ScanPoint
 
@@ -124 +125 @@
  * Data type 0x2221 @see DataHeader
  */
+
 struct SICKLDMRS_API ScanObject{
     // TODO
@@ -136 +138 @@
 typedef struct
 {
-    uint64_t timeStartFromSensor;  //!< NTP time (creation of the message on sensor).
+    uint64_t timeStartFromSensor;   //!< NTP time (creation of the message on sensor).
     ScanHeader hScan;               //!< General information about points recorded. @see ScanHeader
     road_time_t time;               //!< DBT timestamp.
@@ -142 +144 @@
     int32_t dataPos;                //!< The position of the data in the binary file associated to the dbt file (utc file).
 } SickLDMRS_dbt;
+
+/*!
+ * \brief The Sick LDMRS scan struct
+ *
+ * Used to describe one complete scan
+ * @see DataHeader
+ */
+struct SICKLDMRS_API SickLDMRSScan{
+    uint64_t timeStartFromSensor;   //!< NTP time (creation of the message on sensor).
+    ScanHeader header;              //!< General information about points recorded.
+    QVector<ScanPoint> points;      //!< Scan point cloud
+    road_time_t time;               //!< DBT timestamp.
+    road_timerange_t timerange;     //!< DBT timerange.
+};
 
 #ifdef SICKLDMRS_SH_MEM