Claser Class Reference

Claser implements functions to read data from a laser scanner ROTOSCAN RS4-4 (Leuze corp.) connected to a serial port. More...

#include <RS4Leuze_laser.h>

Collaboration diagram for Claser:

Detailed Description

Claser implements functions to read data from a laser scanner ROTOSCAN RS4-4 (Leuze corp.) connected to a serial port.

Public Member Functions
	Claser (int scan_points)
	Opens serial port. More...
	~Claser ()
	Destructor.
void	closeLaser ()
	Closes serial Port and data file.
unsigned char	readByte ()
	Reads one byte and updates checksum message. More...
void	sync ()
	sync function synchronizes with the start of the laser data
void	writeConfig ()
	Write configuration parameters to laser scanner device.
int	scanRead ()
	reads one scan and puts it in scanData array More...
void	runLaser ()
	Return the scan reading from the laser.
void	closeSerial ()
	Closes serial Port.
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.

Public Attributes
RS4Leuze_laser_readings_t	scanData

Private Attributes
char *	portName
	Serial Port where laser is connected.
int	serialFD
	Serial port file descriptor.
termios	ttyset
	termios variable to configure serial port
fd_set	rfds
int	selectResult
	Laser Message fields.
unsigned char	byte
unsigned char	checksum
unsigned char	option1
long unsigned int	scan_number
unsigned int	output_start
unsigned int	output_stop
unsigned int	scanedPoint
unsigned char	controlByte
unsigned int	points_to_scan
struct timeval	tv
	termios variable time interval
timeval	timeStamp
	Time in microseconds resolution.

Constructor & Destructor Documentation

Claser()

Claser::Claser

(

int

scan_points

)

Opens serial port.

laser.cpp V 2.0 -> RS4Leuze_laser.cpp

Modified by Ernesto Homar Teniente Aviles Date 20 APril 2007 Default constructor.

Member Function Documentation

readByte()

unsigned char Claser::readByte

(

)

Reads one byte and updates checksum message.

Reads one byte from serialFD and updates checksum.

References serialFD.

Referenced by scanRead().

scanRead()

int Claser::scanRead

(

)

reads one scan and puts it in scanData array

scanRead reads a whole message of a laser scan, loads it to scanData vector and prints it to laserDataFile.

If success returns 0 and returns 1 if failure.

References PLAYER_ERROR, readByte(), and serialFD.

Referenced by runLaser().

Here is the call graph for this function:

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The documentation for this class was generated from the following files:

• RS4Leuze_laser.h
• RS4Leuze_laser.cc