Revision: 7641
http://playerstage.svn.sourceforge.net/playerstage/?rev=7641&view=rev
Author: thjc
Date: 2009-05-13 11:06:41 +0000 (Wed, 13 May 2009)
Log Message:
-----------
added plc_mode to sick lms driver
Modified Paths:
--------------
code/player/trunk/server/drivers/laser/sicklms200.cc
Modified: code/player/trunk/server/drivers/laser/sicklms200.cc
===================================================================
--- code/player/trunk/server/drivers/laser/sicklms200.cc 2009-05-13
02:06:08 UTC (rev 7640)
+++ code/player/trunk/server/drivers/laser/sicklms200.cc 2009-05-13
11:06:41 UTC (rev 7641)
@@ -127,6 +127,10 @@
- Default: [0.15 0.15]
- Footprint (x,y) of the laser.
+- pls_mode (integer)
+ - Default: 0
+ - set this to 1 to connect to a pls laser
+
@par Example
@verbatim
@@ -322,6 +326,8 @@
protected:
+ IntProperty PLSMode;
+
// Laser pose in robot cs.
double pose[3];
double size[2];
@@ -415,7 +421,8 @@
////////////////////////////////////////////////////////////////////////////////
// Constructor
SickLMS200::SickLMS200(ConfigFile* cf, int section)
- : ThreadedDriver(cf, section, true, PLAYER_MSGQUEUE_DEFAULT_MAXLEN,
PLAYER_LASER_CODE)
+ : ThreadedDriver(cf, section, true, PLAYER_MSGQUEUE_DEFAULT_MAXLEN,
PLAYER_LASER_CODE),
+ PLSMode("pls_mode",0,true,this,cf,section)
{
// Laser geometry.
this->pose[0] = cf->ReadTupleLength(section, "pose", 0, 0.0);
@@ -583,20 +590,31 @@
// Display the laser type
// char type[64];
memset(this->laser_type,0,sizeof(this->laser_type));
- if (GetLaserType(this->laser_type, sizeof(this->laser_type)))
- return 1;
- PLAYER_MSG3(2, "SICK laser type [%s] at [%s:%d]", this->laser_type,
this->device_name, this->transfer_rate);
+ if (PLSMode)
+ {
+ strcpy(this->laser_type,"PLS");
+ this->scan_width = 180;
+ this->scan_res = 50;
+ }
+ else
+ {
+ if (GetLaserType(this->laser_type, sizeof(this->laser_type)))
+ {
+ return 1;
+ }
+ PLAYER_MSG3(2, "SICK laser type [%s] at [%s:%d]", this->laser_type,
this->device_name, this->transfer_rate);
- if (SetLaserMode())
- return 1;
+ if (SetLaserMode())
+ return 1;
- // Configure the laser
- if (SetLaserRes(this->scan_width, this->scan_res))
- return 1;
+ // Configure the laser
+ if (SetLaserRes(this->scan_width, this->scan_res))
+ return 1;
- if (SetLaserConfig(this->intensity, this->high_avail))
- return 1;
+ if (SetLaserConfig(this->intensity, this->high_avail))
+ return 1;
+ }
this->scan_id = 0;
@@ -908,9 +926,16 @@
RETURN_ERROR(1, "Unable to get serial port attributes");
cfmakeraw( &term );
+ if (PLSMode)
+ {
+ term.c_iflag |= INPCK;
+ term.c_iflag &= ~IXOFF;
+ term.c_cflag |= PARENB;
+ }
+
cfsetispeed( &term, B9600 );
cfsetospeed( &term, B9600 );
-
+
if( tcsetattr( this->laser_fd, TCSAFLUSH, &term ) < 0 )
RETURN_ERROR(1, "Unable to set serial port attributes");
@@ -991,6 +1016,13 @@
RETURN_ERROR(1, "unable to get device attributes");
cfmakeraw( &term );
+ if (PLSMode)
+ {
+ term.c_iflag |= INPCK;
+ term.c_iflag &= ~IXOFF;
+ term.c_cflag |= PARENB;
+ }
+
cfsetispeed( &term, B9600 );
cfsetospeed( &term, B9600 );
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