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SICK系列激光雷达单点测距仪DT80-311111+SIG200配置和通信

article 2024/10/25 15:31:59

文章目录

一、硬件连接与SOPAS连接测距仪
二、从SOPAS读取数据
三、通过JSON获取数据
- 1. 使用Postman测试接口
- 2. 通过代码实现

一、硬件连接与SOPAS连接测距仪

首先硬件设备连接如下：
电源厂家应该是不提供，需要自行解决。
在这里插入图片描述
安装完成后需要使用sick的SOPAS软件进行配置：
1、通过软件更改设备IP
2、从设备导入
3、读取数据
4、点击“离线”按钮，切换为在线状态

具体请按照这篇文章来连接

二、从SOPAS读取数据

连接成功后如下图：
在这里插入图片描述
双击设备进入设备页面，如下：

这两位就是十六进制的距离信息，可以自行转换为十进制数，与测距仪表面显示屏上的十进制数字进行对比。

三、通过JSON获取数据

分别使用Python和C++来实现了：

1. 使用Postman测试接口

在这里插入图片描述
其中：

{
    "header": {
        "portNumber": 0
        },
        

        "data": {
            "processData":
            "in"
        }
 }

获取到如下内容表示成功

{
    "header": {
        "status": 0,
        "message": "ok"
    },
    "data": {
        "processDataIn": [
            0,
            0,
            123,
            212,
            252,
            1
        ],
        "isValid": true
    }
}

2. 通过代码实现

1、C++代码如下：

#include <windows.h>
#include <winhttp.h>
#include <iostream>
#include <string>
#include <vector>
#include "nlohmann/json.hpp"

#pragma comment(lib, "winhttp.lib")

using json = nlohmann::json;

HINTERNET OpenSession(const wchar_t* userAgent) {
    HINTERNET hSession = WinHttpOpen(userAgent,
        WINHTTP_ACCESS_TYPE_DEFAULT_PROXY,
        WINHTTP_NO_PROXY_NAME,
        WINHTTP_NO_PROXY_BYPASS, 0);

    if (!hSession) {
        std::cerr << "Failed to open WinHTTP session." << std::endl;
    }

    return hSession;
}

std::string SendPostRequest(HINTERNET hSession, const wchar_t* serverName, const wchar_t* path, const std::string& postData) {
    HINTERNET hConnect = WinHttpConnect(hSession, serverName, INTERNET_DEFAULT_HTTP_PORT, 0);

    if (!hConnect) {
        std::cerr << "Failed to connect to server." << std::endl;
        return "";
    }

    HINTERNET hRequest = WinHttpOpenRequest(hConnect, L"POST", path, NULL, WINHTTP_NO_REFERER,
        WINHTTP_DEFAULT_ACCEPT_TYPES, 0);

    if (!hRequest) {
        std::cerr << "Failed to open request." << std::endl;
        WinHttpCloseHandle(hConnect);
        return "";
    }

    const wchar_t* headers = L"Content-Type: application/json";
    DWORD dwBytesSent = 0;

    if (!WinHttpSendRequest(hRequest, headers, -1L, (LPVOID)postData.c_str(), postData.size(), postData.size(), 0)) {
        std::cerr << "Failed to send request." << std::endl;
        WinHttpCloseHandle(hRequest);
        WinHttpCloseHandle(hConnect);
        return "";
    }

    if (!WinHttpReceiveResponse(hRequest, NULL)) {
        std::cerr << "Failed to receive response." << std::endl;
        WinHttpCloseHandle(hRequest);
        WinHttpCloseHandle(hConnect);
        return "";
    }

    std::string response;
    DWORD dwSize = 0;
    DWORD dwDownloaded = 0;
    LPSTR pszOutBuffer;

    do {
        dwSize = 0;
        if (!WinHttpQueryDataAvailable(hRequest, &dwSize)) {
            std::cerr << "Failed to query data available." << std::endl;
            break;
        }

        pszOutBuffer = new char[dwSize + 1];
        if (!pszOutBuffer) {
            std::cerr << "Memory allocation failed." << std::endl;
            break;
        }

        ZeroMemory(pszOutBuffer, dwSize + 1);

        if (!WinHttpReadData(hRequest, (LPVOID)pszOutBuffer, dwSize, &dwDownloaded)) {
            std::cerr << "Failed to read data." << std::endl;
        }
        else {
            response.append(pszOutBuffer, dwDownloaded);
        }

        delete[] pszOutBuffer;
    } while (dwSize > 0);

    WinHttpCloseHandle(hRequest);
    WinHttpCloseHandle(hConnect);

    return response;
}

int main() {
    HINTERNET hSession = OpenSession(L"MyAppName/1.0");

    if (!hSession) {
        return 1;
    }

    const wchar_t* serverName = L"169.254.102.101";
    const wchar_t* path = L"/iolink/sickv1/readPort";

    json payload = {
        {"header", {{"portNumber", 0}}},
        {"data", {{"processData", "in"}}}
    };

    std::string postData = payload.dump();

    std::string response = SendPostRequest(hSession, serverName, path, postData);

    if (!response.empty()) {
        try {
            json data = json::parse(response);

            const json processDataIn = data.at("data").at("processDataIn");

            if (processDataIn.size() >= 4) {
                int thirdData = processDataIn[2].get<int>();
                int fourthData = processDataIn[3].get<int>();

                std::cout << "Third data: " << thirdData << std::endl;
                std::cout << "Fourth data: " << fourthData << std::endl;
            }
            else {
                std::cout << "Response does not contain enough data." << std::endl;
            }
        }
        catch (const std::exception& e) {
            std::cerr << "Failed to parse JSON response: " << e.what() << std::endl;
        }
    }
    else {
        std::cerr << "Request failed." << std::endl;
    }

    WinHttpCloseHandle(hSession);

    return 0;
}

注意，nlohmann/json.hpp需要自行去github上把nlohmann下载下来，然后去包含目录导入。

python比较简单：

import requests

# 定义请求的URL和请求体
url = "http://192.168.0.20/iolink/sickv1/readPort"
payload = {
    "header": {
        "portNumber": 0
    },
    "data": {
        "processData": "in"
    }
}

# 发送POST请求
response = requests.post(url, json=payload)

# 检查请求是否成功
if response.status_code == 200:
    # 解析返回的JSON数据
    data = response.json()

    # 获取processDataIn列表
    process_data_in = data.get('data', {}).get('processDataIn', [])

    # 检查列表长度是否足够
    if len(process_data_in) >= 4:
        # 获取第3和第4个数据（索引为2和3）
        third_data = process_data_in[2]
        fourth_data = process_data_in[3]

        print(f"Third data: {third_data}")
        print(f"Fourth data: {fourth_data}")
    else:
        print("Response does not contain enough data.")
else:
    print(f"Request failed with status code: {response.status_code}")