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Variable scan frequence #26

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Variable scan frequence #26

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08e2a55
extend setOutputRange function
Karsten1987 Oct 20, 2015
61420b0
disable hardcoded frequence condition
Karsten1987 Oct 20, 2015
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10 changes: 10 additions & 0 deletions include/LMS1xx/LMS1xx.h
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Original file line number Diff line number Diff line change
Expand Up @@ -293,6 +293,16 @@ class LMS1xx {
*/
void setScanDataCfg(const scanDataCfg &cfg);

/*!
* @brief Set output range configuration.
* Get output range configuration :
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Set

* - angle resolution.
* - start angle.
* - stop angle.
* @param cfg structure containing output range configuration.
*/
void setOutputRange(const scanOutputRange &cfg);

/*!
* @brief Get current output range configuration.
* Get output range configuration :
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12 changes: 12 additions & 0 deletions src/LMS1xx.cpp
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Expand Up @@ -187,6 +187,18 @@ void LMS1xx::setScanDataCfg(const scanDataCfg &cfg) {
buf[len - 1] = 0;
}

void LMS1xx::setOutputRange(const scanOutputRange &cfg) {
char buf[100];
sprintf(buf, "%c%s 1 %X %X %X%c", 0x02, "sWN LMPoutputRange",
cfg.angleResolution, cfg.startAngle, cfg.stopAngle, 0x03);

write(sockDesc, buf, strlen(buf));
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strlen would return the length until the first null character 0x00. See http://www.cplusplus.com/reference/cstring/strlen/

Since buf[100] isn't initialized to anything, the return value is unexpected. You can solve that adding 0x00 after 0x03.

However, if any of the cfg fields introduces a 0x00 byte into the buf array, the strlen would be smaller than it should.

I think it'd be better to take the length from the return value of sprintf. See http://www.cplusplus.com/reference/cstdio/sprintf/


int len = read(sockDesc, buf, 100);
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What's the meaning of the third param of the read function? I'm asking because depending on that you should have buf[101] instead of buf[100], because the buf[len - 1] = 0 might overwrite the latest value read if read reads 100 characters.


buf[len - 1] = 0;
}

scanOutputRange LMS1xx::getScanOutputRange() const {
scanOutputRange outputRange;
char buf[100];
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7 changes: 1 addition & 6 deletions src/LMS1xx_node.cpp
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Expand Up @@ -45,14 +45,9 @@ int main(int argc, char **argv)
outputRange = laser.getScanOutputRange();
}

//check if laser is fully initialized, else reconnect
//assuming fully initialized => scaningFrequency=5000
if (cfg.scaningFrequency != 5000) {
laser.disconnect();
ROS_INFO("Waiting for laser to initialize...");
}

} while (!laser.isConnected() || cfg.scaningFrequency != 5000);
} while (!laser.isConnected());
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Maybe we should have an additional check instead, not forcing anything, but a sanity check to be completely sure the configuration is good.


if (laser.isConnected()) {
ROS_INFO("Connected to laser.");
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