Changeset 71 in pacpussensors

Timestamp:

Nov 19, 2014, 10:24:51 AM (10 years ago)

Author:

DHERBOMEZ Gérald

Message:

Correction of Sick LIDAR LDMRS code: problem when decoding the points cloud (with Chunlei Yu).
Correction of a small bug in Win32SerialPort when receiving RX_FLAG.

Location:

trunk

Files:

• Sick/CMakeLists.txt (modified) (2 diffs)
• Sick/SickLDMRSData.h (modified) (3 diffs)
• Sick/SickLDMRSSensor.cpp (modified) (4 diffs)
• Sick/SickLDMRSSensor.h (modified) (3 diffs)
• Sick/SickLMSSensor.cpp (modified) (1 diff)
• driver/win32SerialPort.cpp (modified) (2 diffs)

trunk/Sick/CMakeLists.txt

@@ -16 +16 @@
   message(ERROR "Qt4 needed")
 endif()
-
+find_package(OpenGL REQUIRED)
 # ========================================
 # Compiler definitions
@@ -122 +122 @@
     ${QT_LIBRARIES}
         ${PACPUS_DEPENDENCIES_LIB}
+        ${OPENGL_LIBRARIES}
         ${LIBS}
 )

trunk/Sick/SickLDMRSData.h

@@ -33 +33 @@
 
 namespace pacpus{
+static const uint32_t MAX_SICKSCAN_POINT = 1100;
+static const uint32_t MAX_SCAN_POINT_PER_LAYER = 1100;
 
 /*!
@@ -108 +110 @@
                                 //!< 4 MSB : Echo
     uchar flags;
-    uint16_t angle;            //!< Angle in number of ticks. You can easily compute the real angle :
+    int16_t angle;            //!< Angle in number of ticks. You can easily compute the real angle :
                                 //!< \f$ angle (degree) = \frac{angle (ticks)}{ScanHeader.ticksPerRot}\f$ @see ScanHeader
 
@@ -141 +143 @@
 } SickLDMRS_dbt;
 
-
-
 #ifdef SICKLDMRS_SH_MEM
 /// Structure to write in shared memory, followed by the points.

trunk/Sick/SickLDMRSSensor.cpp

@@ -126 +126 @@
         LOG_TRACE("(Recording) Not recording...");
 
-
 #ifdef SICKLDMRS_SH_MEM
     shmem_ = new ShMem(kSickMemoryName.c_str(), sizeof(ScanSickData));
@@ -323 +322 @@
         // we have a complete message available that we can add to the list
         MessageLDMRS msg;
-
-        // we copy the bytes in the body message
-//        char* messageData = (char*)malloc(msgSize);
-//        if(messageData == NULL){
-//            LOG_FATAL("(Packet reconstitution) Malloc FAILED. Packet lost.");
-//            return;
-//        }
         memcpy(msg.body, pendingBytes.data.c_str() + index, msgSize);
 
@@ -375 +367 @@
             scanPoints[i].layerEcho = *((uchar*)(msg.body + index));
             scanPoints[i].flags = *((uchar*)(msg.body + index + 1));
-            scanPoints[i].angle = *((uint16_t*)(msg.body + index + 2));
+            scanPoints[i].angle = *((int16_t*)(msg.body + index + 2));
             scanPoints[i].distance = *((uint16_t*)(msg.body + index + 4));
             scanPoints[i].echoPulseWidth = *((uint16_t*)(msg.body + index + 6));
-        }
-
-        memcpy(msg.body, scanPoints, sizeof(ScanPoint) * msg.hScan.numPoints);
+                        index+=10;
+                } 
+                memcpy(msg.body, scanPoints, sizeof(ScanPoint) * msg.hScan.numPoints);
 
                 delete[] scanPoints;
@@ -392 +384 @@
         // TODO
     }
-
-
     return msg.hData.dataType;
 }

trunk/Sick/SickLDMRSSensor.h

@@ -22 +22 @@
 #include "AbstractSickSensor.h"
 #include "SickLDMRSData.h"
-
+#include "AlascaViewer3D.h"
 #include <fstream>
 #include <string>
@@ -199 +199 @@
     SickSocket * S_socket;
 
+signals:
+  void refreshDisplay();
+
 private:
     /// Name is used to recognize between several sensors and store data into .dbt and utc files.
@@ -255 +258 @@
     std::ofstream dataFile_; //!< UTC file.
 
-
 #ifdef SICKLDMRS_SH_MEM
     ShMem * shmem_;

trunk/Sick/SickLMSSensor.cpp

@@ -562 +562 @@
 */
 
+                return 0;
 }
 

trunk/driver/win32SerialPort.cpp

@@ -477 +477 @@
 
     if ( evtMask & EV_RXCHAR ) {
+                //printf("%s EV_RXCHAR\n",portName);
         if ((numberBytesToRead = nbBytesToRead()) > 0) {
             receivedBuffer_.resize(numberBytesToRead);
@@ -485 +486 @@
 
 
-    if ( evtMask & EV_RXFLAG )
-        //printf("%s EV_RXFLAG\n",portName);
+    if ( evtMask & EV_RXFLAG ) {
+        printf("%s EV_RXFLAG\n",portName);
+        }
 
         if ( evtMask & EV_TXEMPTY )