[Playerstage-developers] Updated SICK LMS/PLS driver, testing needed.

[Kevin B. <ba...@gm...>]

Hello all,

I've been working on fixing up the SICKLMS200 driver.

Changes so far:

--serial_high_speed_mode
     [0] The old FTDI method. Linux only. (With no changes made).
     [1] Fake baud rates as used by the CP21xx RS422 to USB. (Ie you
open a tty at speed 230400 as far as the OS is concerned, but at the
RS422 level it's actually 500k). This might work with non-CP21xx
methods, and this mode but with no remapping (ie set
serial_high_speed_baudremap to 500000) might work with other
converters. I've only tested it with the Cp21xx, but on both Mac OS X
and Linux.

Example configuration files are included.

--Better time outs. I've increased some timeouts and decreased some
timeouts, but most importantly I added a separate time out for receive
the header of the message. This is because it /can/ take a long time
to get the whole message sometimes, but if you don't get the header
quickly, you'll never get the message. This makes the trial/error of
connecting at different baud rates much faster.

--PLS support ??
I don't have a PLS to test with. But I looked at the code from the
sickpls and it seems almost identical. The password is different, but
I now generate the password based off the response from the
GetLaserType() query (Meaning it works on LMS and should work on PLS).
The only other difference I could find was that the intensities are
&'ed with 0x07 rather than 0x0E, so I included this too. I'm concerned
that the PLS might not support SetLaserRes and SetLaserConfig, but I
left them active for now hoping that someone can test it.

For now I'm distributing this as a tarball because I'd really like
some testing and I think an external module is easier to test with.
Especially in the case of the PLS where I might need to make a few
versions before it works. But I'll be submitting a patch soon. If
people with FTDI's could test this patch too and report on high speed
mode success/failure. Also if people not using any high speed mode
could test this to ensure I didn't do anything silly with the timeouts
(Though I've tested a bit at 38400 and it seems good).

http://es.udmercy.edu/~barryke/player/sicklms200b_20071218.tar.gz

-Kevin Barry