28#ifndef RS4Leuze_laser_h
29#define RS4Leuze_laser_h
41#define MAX_SCAN_POINTS 529
45 double Reading[MAX_SCAN_POINTS];
61 unsigned char checksum;
62 unsigned char option1;
63 long unsigned int scan_number;
64 unsigned int output_start;
65 unsigned int output_stop;
66 unsigned int scanedPoint;
67 unsigned char controlByte;
68 unsigned int points_to_scan;
85 void openSerial(
bool *laser_ON,
int Baud_rate,
const char * Port);
Claser implements functions to read data from a laser scanner ROTOSCAN RS4-4 (Leuze corp....
Definition RS4Leuze_laser.h:53
void closeLaser()
Closes serial Port and data file.
void runLaser()
Return the scan reading from the laser.
Definition RS4Leuze_laser.cc:219
void writeConfig()
Write configuration parameters to laser scanner device.
int scanRead()
reads one scan and puts it in scanData array
Definition RS4Leuze_laser.cc:131
struct timeval tv
termios variable time interval
Definition RS4Leuze_laser.h:69
unsigned char readByte()
Reads one byte and updates checksum message.
Definition RS4Leuze_laser.cc:103
void sync()
sync function synchronizes with the start of the laser data
Definition RS4Leuze_laser.cc:114
Claser(int scan_points)
Opens serial port.
Definition RS4Leuze_laser.cc:37
~Claser()
Destructor.
Definition RS4Leuze_laser.cc:46
int serialFD
Serial port file descriptor.
Definition RS4Leuze_laser.h:56
void closeSerial()
Closes serial Port.
Definition RS4Leuze_laser.cc:54
char * portName
Serial Port where laser is connected.
Definition RS4Leuze_laser.h:55
timeval timeStamp
Time in microseconds resolution.
Definition RS4Leuze_laser.h:70
void openSerial(bool *laser_ON, int Baud_rate, const char *Port)
Opens serial Port and get the default paarameters or those given in the .cfg file.
Definition RS4Leuze_laser.cc:59
termios ttyset
termios variable to configure serial port
Definition RS4Leuze_laser.h:57
int selectResult
Laser Message fields.
Definition RS4Leuze_laser.h:59
Definition RS4Leuze_laser.h:44