Sick_Safetyscanners_Base CPP Driver

Table of contents

• Supported Hardware
• Getting started
• API
• Creators

A CPP standalone Driver which reads the raw data from the SICK Safety Scanners and takes custom functions to publish the data.

Supported Hardware

Product Family	Product Type	Description
microScan3 Core	MICS3-ACAZ40PZ1	Safety Laser Scanner, PROFINET PROFIsafe, Protective Field Range: 4 m
	MICS3-ACAZ55PZ1	Safety Laser Scanner, PROFINET PROFIsafe, Protective Field Range: 5.5 m
	MICS3-ACAZ90PZ1	Safety Laser Scanner, PROFINET PROFIsafe, Protective Field Range: 9 m
	MICS3-ABAZ40IZ1	Safety Laser Scanner, EtherNet/IP CIP Safety, Protective Field Range: 4 m
	MICS3-ABAZ55IZ1	Safety Laser Scanner, EtherNet/IP CIP Safety, Protective Field Range: 5.5 m
	MICS3-ABAZ90IZ1	Safety Laser Scanner, EtherNet/IP CIP Safety, Protective Field Range: 9 m
	MICS3-ABAZ40ZA1	Safety Laser Scanner, EFI-pro, Protective Field Range: 4 m
	MICS3-ABAZ55ZA1	Safety Laser Scanner, EFI-pro, Protective Field Range: 5.5 m
	MICS3-ABAZ90ZA1	Safety Laser Scanner, EFI-pro, Protective Field Range: 9 m
microScan3 Pro	MICS3-CBAZ40PZ1	Safety Laser Scanner, PROFINET PROFIsafe, Protective Field Range: 4 m
	MICS3-CBAZ55PZ1	Safety Laser Scanner, PROFINET PROFIsafe, Protective Field Range: 5.5 m
	MICS3-CBAZ90PZ1	Safety Laser Scanner, PROFINET PROFIsafe, Protective Field Range: 9 m
	MICS3-CBAZ40IZ1	Safety Laser Scanner, EtherNet/IP CIP Safety, Protective Field Range: 4 m
	MICS3-CBAZ55IZ1	Safety Laser Scanner, EtherNet/IP CIP Safety, Protective Field Range: 5.5 m
	MICS3-CBAZ90IZ1	Safety Laser Scanner, EtherNet/IP CIP Safety, Protective Field Range: 9 m
	MICS3-CBAZ40ZA1	Safety Laser Scanner, EFI-pro, Protective Field Range: 4 m
	MICS3-CBAZ55ZA1	Safety Laser Scanner, EFI-pro, Protective Field Range: 5.5 m
	MICS3-CBAZ90ZA1	Safety Laser Scanner, EFI-pro, Protective Field Range: 9 m
outdoorScan3 Pro	MICS3-CBUZ40IZ1P01	Safety Laser Scanner, EtherNet/IP CIP Safety, Protective Field Range: 4 m

Getting started

The driver will be released on this github repository, and can then be installed from source.

Prerequisites

• Linux
• Correctly setup SICK Safety Scanner
• Connected SICK Safety Scanner and a correctly setup ethernet network. Both the host and the sensor have to be in the same network.

Installation

For installation this github repository has to be cloned and afterwards installed. If a custom install directory is wanted use the -DCMAKE_INSTALL_PREFIX option to specify a path.

git clone https://github.com/SICKAG/sick_safetyscanners_base.git
cd sick_safetyscanners_base
mkdir build
cd build
cmake -DCMAKE_INSTALL_PREFIX=<path to install folder> ..
make -j9
make install

Usage

To use the library in a driver the path of the installation has to be added to the cmake prefix path of your application. You can achieve this by using, bevor invoking cmake on your application.

export CMAKE_PREFIX_PATH=<path to install folder>

Afterwards the driver and the settings for the driver can be included with:

#include <sick_safetyscanners_base/SickSafetyscannersBase.h> 
#include <sick_safetyscanners_base/datastructure/CommSettings.h>

To setup the driver one has to invoke the constructor and pass a function and the settings for communication. The function then will be executed everytime a new scan from the sensor arrives and gives access to the data.

sick::datastructure::CommSettings m_communication_settings;

#Set the correct parameters for the communication settings, otherwise the default parameters will be used. 
#For example:
m_communication_settings.setHostIp("192.168.1.100");

std::shared_ptr<sick::SickSafetyscannersBase> m_device;
m_device = std::make_shared<sick::SickSafetyscannersBase>(boost::bind(&your_class::your_function, this, _1), &m_communication_settings);
m_device->run();  

With the passed function having the following declaration:

void your_function(const sick::datastructure::Data& data) ;

An Example can be found in the sick_safetyscanners ROS Driver: https://github.com/SICKAG/sick_safetyscanners/blob/master/src/SickSafetyscannersRos.cpp

API

Parameters of Communication Settings

The parameters can be set using the setters of the CommSettings class. To set for example to host_ip the following function can be called.

sick::datastructure::CommSettings m_communication_settings;
m_communication_settings.setHostIp("192.168.1.100");

Parameter Name	API	Default	Information
sensor_ip	void setSensorIp(const std::string& sensor_ip);	192.168.1.11	Sensor IP address. Can be passed as an argument to the launch file.
host_ip	void setHostIp(const std::string& host_ip);	192.168.1.9	Host IP address. Can be passed as an argument to the launch file.
host_udp_port	void setHostUdpPort(const uint16_t& host_udp_port);	0	Host UDP Port. Can be passed as an argument to the launch file. Zero allows system chosen port.
publishing_frequency	void setPublishingFrequency(const uint16_t& publishing_frequency)	1	Publish every n_th scan, where n is the publishing frequency. For a 25Hz laser, setting to 1 makes it publish at 25Hz, to 2 makes it publish at 12.5Hz.
start_angle	void setStartAngle(const uint32_t& start_angle)	0.0	Start angle of scan in radians, if both start and end angle are equal, all angels are regarded. 0° is at the front of the scanner.
end_angle	void setEndAngle(const uint32_t& start_angle)	0.0	End angle of scan in radians, if both start and end angle are equal, all angels are regarded. 0° is at the front of the scanner.
channel_enabled	void setEnabled(bool enabled);	true	If the channel should be enabled
e_interface_type	void setEInterfaceType(const uint8_t& e_interface_type)	0	Sets the interface type of the sensor 0: EFI-pro 1: EtherNet/IP 3: Profinet 4: Non-safe Ethernet
features	void CommSettings::setFeatures ( bool general_system_state, bool derived_settings, bool measurement_data, bool intrusion_data, bool application_data )	all true	Enables the individual data outputs.

Functions

Thd Library allows to access variables of the sensor and invoke methods to change settings using the cola2 protocol. The following methods can be called:

Function	Information
void changeSensorSettings (const sick::datastructure::CommSettings& settings)	Updates the sensor settigns to the passed configuration
void findSensor (const sick::datastructure::CommSettings& settings, uint16_t blink_time);	Lets the sensor flash the display for the specified time.
void requestApplicationName (const sick::datastructure::CommSettings& settings, sick::datastructure::ApplicationName& application_name);	Returns the name of the current application
void requestConfigMetadata (const sick::datastructure::CommSettings& settings, sick::datastructure::ConfigMetadata& config_metadata);	Returns the metadata of the current configuration of the sensor
void requestDeviceName (const sick::datastructure::CommSettings& settings, sick::datastructure::DeviceName& device_name);	Returns the device name
void requestDeviceStatus (const sick::datastructure::CommSettings& settings, sick::datastructure::DeviceStatus& device_status);	Returns the device status
void requestFieldData (const sick::datastructure::CommSettings& settings, std::vector< sick::datastructure::FieldData>& field_data);	Returns the field data of the warning and safety fields
void requestFirmwareVersion (const sick::datastructure::CommSettings& settings, sick::datastructure::FirmwareVersion& firmware_version);	Returns the firmware version
void requestLatestTelegram (const sick::datastructure::CommSettings& settings, sick::datastructure::Data& data, int8_t index = 0);	Returns the latest telegram for the channel index. Up to 4 Channels can be supported by the cola protocol, the actual number depends on the used scanner. Channel 0 is set as default value.
void requestMonitoringCases (const sick::datastructure::CommSettings& settings, std::vector< sick::datastructure::MonitoringCaseData>& monitoring_cases);	Returns the data of the Monitoring Cases
void requestOrderNumber (const sick::datastructure::CommSettings& settings, sick::datastructure::OrderNumber& order_number);	Returns the order Number
void requestPersistentConfig (const sick::datastructure::CommSettings& settings, sick::datastructure::ConfigData& config_data);	Returns the Persistent configuration of the sensor, which was set in the Safety Designer
void requestProjectName (const sick::datastructure::CommSettings& settings, sick::datastructure::ProjectName& project_name);	Returns the project name
void requestRequiredUserAction (const sick::datastructure::CommSettings& settings, sick::datastructure::RequiredUserAction& required_user_action);	Returns the required user actions as specified in the cola 2 manual.
void requestSerialNumber (const sick::datastructure::CommSettings& settings, sick::datastructure::SerialNumber& serial_number);	Returns the serial number of the sensor
void requestStatusOverview (const sick::datastructure::CommSettings& settings, sick::datastructure::StatusOverview& status_overview);	Returns the status overview
void requestTypeCode (const sick::datastructure::CommSettings& settings, sick::datastructure::TypeCode& type_code)	Returns the type code of the sensor
void requestUserName (const sick::datastructure::CommSettings& settings, sick::datastructure::UserName& user_name);	Returns the user name

Troubleshooting

• Check if the sensor has power and is connected to the host.
• Check if both sensor and host are in the same subnet e.g. 192.168.1
• Are the correct IPs configured for the application?
• Is the correct Interface Type configured?

Creators

Lennart Puck

FZI Forschungszentrum Informatik

• http://www.fzi.de

on behalf of SICK AG

• http://www.sick.com