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michael1309michael1309
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Bloom version id fixed
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‎driver/src/sick_generic_caller.cpp‎

Lines changed: 189 additions & 189 deletions
Original file line numberDiff line numberDiff line change
@@ -1,189 +1,189 @@
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/**
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* \file
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* \brief Laser Scanner Entry Point
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*
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* Copyright (C) 2019,2018,2017, Ing.-Buero Dr. Michael Lehning, Hildesheim
6-
* Copyright (C) 2019,2018,2017, SICK AG, Waldkirch
7-
*
8-
* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
10-
* You may obtain a copy of the License at
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*
12-
* http://www.apache.org/licenses/LICENSE-2.0
13-
*
14-
* Unless required by applicable law or agreed to in writing, software
15-
* distributed under the License is distributed on an "AS IS" BASIS,
16-
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
18-
* limitations under the License.
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*
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
25-
*
26-
* * Redistributions of source code must retain the above copyright
27-
* notice, this list of conditions and the following disclaimer.
28-
* * Redistributions in binary form must reproduce the above copyright
29-
* notice, this list of conditions and the following disclaimer in the
30-
* documentation and/or other materials provided with the distribution.
31-
* * Neither the name of Osnabrück University nor the names of its
32-
* contributors may be used to endorse or promote products derived from
33-
* this software without specific prior written permission.
34-
* * Neither the name of SICK AG nor the names of its
35-
* contributors may be used to endorse or promote products derived from
36-
* this software without specific prior written permission
37-
* * Neither the name of Ing.-Buero Dr. Michael Lehning nor the names of its
38-
* contributors may be used to endorse or promote products derived from
39-
* this software without specific prior written permission
40-
*
41-
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
42-
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
43-
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
44-
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
45-
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
46-
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
47-
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
48-
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
49-
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
51-
* POSSIBILITY OF SUCH DAMAGE.
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*
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* Last modified: 21st Aug 2018
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*
55-
* Authors:
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* Michael Lehning <[email protected]>
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* Jochen Sprickerhof <[email protected]>
58-
* Martin Günther <[email protected]>
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*
60-
* Based on the TiM communication example by SICK AG.
61-
*
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*
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*
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* Copyright 2018 SICK AG
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* Copyright 2018 Ing.-Büro Dr. Michael Lehning
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*/
70-
71-
#include <stdio.h>
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#include <stdlib.h>
73-
#include <string.h>
74-
75-
#include "sick_scan/sick_generic_laser.h"
76-
#include "sick_scan/sick_generic_imu.h"
77-
#include "sick_scan/binScanf.hpp"
78-
#include "sick_scan/binPrintf.hpp"
79-
#include "sick_scan/dataDumper.h"
80-
81-
#ifdef _MSC_VER
82-
#include "sick_scan/rosconsole_simu.hpp"
83-
#endif
84-
85-
#define MAX_NAME_LEN (1024)
86-
87-
// 001.001.000 Switch to multithreaded processing of data
88-
// 001.001.001: Documentation added
89-
// 001.002.001: Bug in bin_scanf fixed (number of counted arguments was always 1)
90-
// 001.002.002: MRS1xxx/LMS1xxx - legacy device ident cmd. changed to new device ident cmd
91-
// 001.002.003: MRS1xxx/LMS1xxx - support of hector_slam integrated
92-
// 001.002.004: RMS3xx - profiling and radar support optimized
93-
// 001.002.005: Startup process changed to state machine
94-
// 001.002.006: Signal handler for ctrl-c added
95-
// 001.002.007: Fix for multi echo handling with lookup table
96-
// 001.002.008: IMU Parser structure added
97-
// 001.002.009: Application setting modified for MRS1104
98-
// 001.002.010: First version of IMU parser
99-
// 001.002.011: Ip Address change added, bugfixing
100-
// 001.003.000: Jan 2019 release 0.0.14
101-
// 001.003.001: Jan 2019 release 0.0.14 address handling for ip v4 parsing fixed
102-
// 001.003.002: Feb 2019 Fixing and optimizing console output
103-
// 001.003.016: Feb 2019 Profiling+instructions, Caching of Ros-Params
104-
// 001.003.017: May 2019 stability issues, scan rate and angular resolution settings added
105-
// 001.003.018: May 2019 LMS1000 Min/Max angel settings added and tested
106-
107-
#define SICK_GENERIC_MAJOR_VER "001"
108-
#define SICK_GENERIC_MINOR_VER "003"
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#define SICK_GENERIC_PATCH_LEVEL "018"
110-
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#include <algorithm> // for std::min
112-
113-
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115-
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std::string getVersionInfo();
117-
/*!
118-
\brief Startup routine - if called with no argmuments we assume debug session.
119-
Set scanner name variable by parsing for "__name:=". This will be changed in the future
120-
by setting a parameter. Calls mainGenericLaser after parsing.
121-
122-
\param argc: Number of Arguments
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\param argv: Argument variable
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\return exit-code
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\sa mainGenericLaser
126-
*/
127-
int main(int argc, char **argv)
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{
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130-
131-
DataDumper::instance().writeToFileNameWhenBufferIsFull("/tmp/sickscan_debug.csv");
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char nameId[] = "__name:=";
133-
char nameVal[MAX_NAME_LEN] = { 0 };
134-
char **argv_tmp; // argv_tmp[0][0] argv_tmp[0] identisch ist zu (*argv_tmp)
135-
int argc_tmp;
136-
std::string scannerName = "????";
137-
138-
// sick_scan::SickScanImu::imuParserTest();
139-
140-
argc_tmp = argc;
141-
argv_tmp = argv;
142-
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const int MAX_STR_LEN = 1024;
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char nameTagVal[MAX_STR_LEN] = { 0 };
145-
char logTagVal[MAX_STR_LEN] = { 0 };
146-
char internalDebugTagVal[MAX_STR_LEN] = { 0 };
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char sensorEmulVal[MAX_STR_LEN] = { 0 };
148-
149-
if (argc == 1) // just for testing without calling by roslaunch
150-
{
151-
// recommended call for internal debugging as an example: __name:=sick_rms_320 __internalDebug:=1
152-
// strcpy(nameTagVal, "__name:=sick_rms_3xx"); // sick_rms_320 -> radar
153-
strcpy(nameTagVal, "__name:=sick_tim_5xx"); // sick_rms_320 -> radar
154-
strcpy(logTagVal, "__log:=/tmp/tmp.log");
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strcpy(internalDebugTagVal, "__internalDebug:=1");
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// strcpy(sensorEmulVal, "__emulSensor:=1");
157-
strcpy(sensorEmulVal, "__emulSensor:=0");
158-
argc_tmp = 5;
159-
argv_tmp = (char **)malloc(sizeof(char *) * argc_tmp);
160-
161-
argv_tmp[0] = argv[0];
162-
argv_tmp[1] = nameTagVal;
163-
argv_tmp[2] = logTagVal;
164-
argv_tmp[3] = internalDebugTagVal;
165-
argv_tmp[4] = sensorEmulVal;
166-
167-
}
168-
//
169-
std::string versionInfo = "sick_generic_caller V. ";
170-
versionInfo += std::string(SICK_GENERIC_MAJOR_VER) + '.';
171-
versionInfo += std::string(SICK_GENERIC_MINOR_VER) + '.';
172-
versionInfo += std::string(SICK_GENERIC_PATCH_LEVEL);
173-
174-
setVersionInfo(versionInfo);
175-
ROS_INFO("%s", versionInfo.c_str());
176-
for (int i = 0; i < argc_tmp; i++)
177-
{
178-
if (strstr(argv_tmp[i], nameId) == argv_tmp[i])
179-
{
180-
strcpy(nameVal, argv_tmp[i] + strlen(nameId));
181-
scannerName = nameVal;
182-
}
183-
ROS_INFO("Program arguments: %s", argv_tmp[i]);
184-
}
185-
186-
int result = mainGenericLaser(argc_tmp, argv_tmp, scannerName);
187-
return result;
188-
189-
}
1+
/**
2+
* \file
3+
* \brief Laser Scanner Entry Point
4+
*
5+
* Copyright (C) 2019,2018,2017, Ing.-Buero Dr. Michael Lehning, Hildesheim
6+
* Copyright (C) 2019,2018,2017, SICK AG, Waldkirch
7+
*
8+
* Licensed under the Apache License, Version 2.0 (the "License");
9+
* you may not use this file except in compliance with the License.
10+
* You may obtain a copy of the License at
11+
*
12+
* http://www.apache.org/licenses/LICENSE-2.0
13+
*
14+
* Unless required by applicable law or agreed to in writing, software
15+
* distributed under the License is distributed on an "AS IS" BASIS,
16+
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
17+
* See the License for the specific language governing permissions and
18+
* limitations under the License.
19+
*
20+
*
21+
* All rights reserved.
22+
*
23+
* Redistribution and use in source and binary forms, with or without
24+
* modification, are permitted provided that the following conditions are met:
25+
*
26+
* * Redistributions of source code must retain the above copyright
27+
* notice, this list of conditions and the following disclaimer.
28+
* * Redistributions in binary form must reproduce the above copyright
29+
* notice, this list of conditions and the following disclaimer in the
30+
* documentation and/or other materials provided with the distribution.
31+
* * Neither the name of Osnabrück University nor the names of its
32+
* contributors may be used to endorse or promote products derived from
33+
* this software without specific prior written permission.
34+
* * Neither the name of SICK AG nor the names of its
35+
* contributors may be used to endorse or promote products derived from
36+
* this software without specific prior written permission
37+
* * Neither the name of Ing.-Buero Dr. Michael Lehning nor the names of its
38+
* contributors may be used to endorse or promote products derived from
39+
* this software without specific prior written permission
40+
*
41+
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
42+
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
43+
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
44+
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
45+
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
46+
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
47+
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
48+
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
49+
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
50+
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
51+
* POSSIBILITY OF SUCH DAMAGE.
52+
*
53+
* Last modified: 29 May 2019
54+
*
55+
* Authors:
56+
* Michael Lehning <[email protected]>
57+
* Jochen Sprickerhof <[email protected]>
58+
* Martin Günther <[email protected]>
59+
*
60+
* Based on the TiM communication example by SICK AG.
61+
*
62+
*
63+
*
64+
* Copyright 2018/2019 SICK AG
65+
* Copyright 2018/2019 Ing.-Büro Dr. Michael Lehning
66+
67+
68+
69+
*/
70+
71+
#include <stdio.h>
72+
#include <stdlib.h>
73+
#include <string.h>
74+
75+
#include "sick_scan/sick_generic_laser.h"
76+
#include "sick_scan/sick_generic_imu.h"
77+
#include "sick_scan/binScanf.hpp"
78+
#include "sick_scan/binPrintf.hpp"
79+
#include "sick_scan/dataDumper.h"
80+
81+
#ifdef _MSC_VER
82+
#include "sick_scan/rosconsole_simu.hpp"
83+
#endif
84+
85+
#define MAX_NAME_LEN (1024)
86+
87+
// 001.001.000 Switch to multithreaded processing of data
88+
// 001.001.001: Documentation added
89+
// 001.002.001: Bug in bin_scanf fixed (number of counted arguments was always 1)
90+
// 001.002.002: MRS1xxx/LMS1xxx - legacy device ident cmd. changed to new device ident cmd
91+
// 001.002.003: MRS1xxx/LMS1xxx - support of hector_slam integrated
92+
// 001.002.004: RMS3xx - profiling and radar support optimized
93+
// 001.002.005: Startup process changed to state machine
94+
// 001.002.006: Signal handler for ctrl-c added
95+
// 001.002.007: Fix for multi echo handling with lookup table
96+
// 001.002.008: IMU Parser structure added
97+
// 001.002.009: Application setting modified for MRS1104
98+
// 001.002.010: First version of IMU parser
99+
// 001.002.011: Ip Address change added, bugfixing
100+
// 001.003.000: Jan 2019 release 0.0.14
101+
// 001.003.001: Jan 2019 release 0.0.14 address handling for ip v4 parsing fixed
102+
// 001.003.002: Feb 2019 Fixing and optimizing console output
103+
// 001.003.016: Feb 2019 Profiling+instructions, Caching of Ros-Params
104+
// 001.003.017: May 2019 stability issues, scan rate and angular resolution settings added
105+
// 001.003.018: May 2019 LMS1000 Min/Max angel settings added and tested
106+
// 001.003.020: May 2019 Bloom process prepared
107+
#define SICK_GENERIC_MAJOR_VER "001"
108+
#define SICK_GENERIC_MINOR_VER "003"
109+
#define SICK_GENERIC_PATCH_LEVEL "020"
110+
111+
#include <algorithm> // for std::min
112+
113+
114+
115+
116+
std::string getVersionInfo();
117+
/*!
118+
\brief Startup routine - if called with no argmuments we assume debug session.
119+
Set scanner name variable by parsing for "__name:=". This will be changed in the future
120+
by setting a parameter. Calls mainGenericLaser after parsing.
121+
122+
\param argc: Number of Arguments
123+
\param argv: Argument variable
124+
\return exit-code
125+
\sa mainGenericLaser
126+
*/
127+
int main(int argc, char **argv)
128+
{
129+
130+
131+
DataDumper::instance().writeToFileNameWhenBufferIsFull("/tmp/sickscan_debug.csv");
132+
char nameId[] = "__name:=";
133+
char nameVal[MAX_NAME_LEN] = { 0 };
134+
char **argv_tmp; // argv_tmp[0][0] argv_tmp[0] identisch ist zu (*argv_tmp)
135+
int argc_tmp;
136+
std::string scannerName = "????";
137+
138+
// sick_scan::SickScanImu::imuParserTest();
139+
140+
argc_tmp = argc;
141+
argv_tmp = argv;
142+
143+
const int MAX_STR_LEN = 1024;
144+
char nameTagVal[MAX_STR_LEN] = { 0 };
145+
char logTagVal[MAX_STR_LEN] = { 0 };
146+
char internalDebugTagVal[MAX_STR_LEN] = { 0 };
147+
char sensorEmulVal[MAX_STR_LEN] = { 0 };
148+
149+
if (argc == 1) // just for testing without calling by roslaunch
150+
{
151+
// recommended call for internal debugging as an example: __name:=sick_rms_320 __internalDebug:=1
152+
// strcpy(nameTagVal, "__name:=sick_rms_3xx"); // sick_rms_320 -> radar
153+
strcpy(nameTagVal, "__name:=sick_tim_5xx"); // sick_rms_320 -> radar
154+
strcpy(logTagVal, "__log:=/tmp/tmp.log");
155+
strcpy(internalDebugTagVal, "__internalDebug:=1");
156+
// strcpy(sensorEmulVal, "__emulSensor:=1");
157+
strcpy(sensorEmulVal, "__emulSensor:=0");
158+
argc_tmp = 5;
159+
argv_tmp = (char **)malloc(sizeof(char *) * argc_tmp);
160+
161+
argv_tmp[0] = argv[0];
162+
argv_tmp[1] = nameTagVal;
163+
argv_tmp[2] = logTagVal;
164+
argv_tmp[3] = internalDebugTagVal;
165+
argv_tmp[4] = sensorEmulVal;
166+
167+
}
168+
//
169+
std::string versionInfo = "sick_generic_caller V. ";
170+
versionInfo += std::string(SICK_GENERIC_MAJOR_VER) + '.';
171+
versionInfo += std::string(SICK_GENERIC_MINOR_VER) + '.';
172+
versionInfo += std::string(SICK_GENERIC_PATCH_LEVEL);
173+
174+
setVersionInfo(versionInfo);
175+
ROS_INFO("%s", versionInfo.c_str());
176+
for (int i = 0; i < argc_tmp; i++)
177+
{
178+
if (strstr(argv_tmp[i], nameId) == argv_tmp[i])
179+
{
180+
strcpy(nameVal, argv_tmp[i] + strlen(nameId));
181+
scannerName = nameVal;
182+
}
183+
ROS_INFO("Program arguments: %s", argv_tmp[i]);
184+
}
185+
186+
int result = mainGenericLaser(argc_tmp, argv_tmp, scannerName);
187+
return result;
188+
189+
}

‎package.xml‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,7 +1,7 @@
11
<?xml version="1.0"?>
22
<package>
33
<name>sick_scan</name>
4-
<version>1.003.019</version>
4+
<version>1.3.20</version>
55
<description>
66
A ROS driver for the SICK TiM and SICK MRS series of laser scanners.
77
This package is based on the original sick_tim-repository of Martin Günther et al.

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