/* Adept MobileRobots Robotics Interface for Applications (ARIA) Copyright (C) 2004, 2005 ActivMedia Robotics LLC Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc. Copyright (C) 2011, 2012, 2013 Adept Technology This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program; if not, write to the Free Software Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA If you wish to redistribute ARIA under different terms, contact Adept MobileRobots for information about a commercial version of ARIA at robots@mobilerobots.com or Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960 */ #ifndef ARLASERCONNECTOR_H #define ARLASERCONNECTOR_H #include "ariaTypedefs.h" #include "ArSerialConnection.h" #include "ArTcpConnection.h" #include "ArArgumentBuilder.h" #include "ArArgumentParser.h" #include "ariaUtil.h" #include "ArRobotConnector.h" class ArLaser; class ArRobot; /// Create laser interface objects (for any kind of laser supported by ARIA) and connect to lasers based on parameters from robot parameter file and command-line arguments /** ArLaserConnector makes a laser connection (e.g. through serial port, TCP network connection, or to simulator connection as a special case if the robot connection is to a simulator.) Parameters are configurable through command-line arguments or in the robot parameter file. When you create your ArLaserConnector, pass it command line parameters via either the argc and argv variables from main(), or pass it an ArArgumentBuilder or ArArgumentParser object. (ArArgumentBuilder is able to obtain command line parameters from a Windows program that uses WinMain() instead of main()). ArLaserConnector registers a callback with the global Aria class. Use Aria::parseArgs() to parse all command line parameters to the program, and Aria::logOptions() to print out information about all registered command-line parameters. ArLaserConnector will be included in these. Then, to connect to any lasers that were set up in the robot parameter file or via command line arguments, call connectLasers(). If successful, connectLasers() will return true and add an entry for each laser connected in the ArRobot object's list of lasers. These ArLaser objects can be accessed from your ArRobot object via ArRobot::findLaser() or ArRobot::getLaserMap(). (The internal interface used by ARIA to connect to configured lasers and add them to ArRobot is also available if you need to use it: See addLaser(); but this is normally not neccesary for almost all cases.) The following command-line arguments are checked: @verbinclude ArLaserConnector_options @since 2.7.0 @ingroup ImportantClasses @ingroup DeviceClasses **/ class ArLaserConnector { public: /// Constructor that takes argument parser AREXPORT ArLaserConnector( ArArgumentParser *parser, ArRobot *robot, ArRobotConnector *robotConnector, bool autoParseArgs = true, ArLog::LogLevel infoLogLevel = ArLog::Verbose, ArRetFunctor1 *turnOnPowerOutputCB = NULL, ArRetFunctor1 *turnOffPowerOutputCB = NULL); /// Destructor AREXPORT ~ArLaserConnector(void); /// Connects all the lasers the robot has that should be auto connected AREXPORT bool connectLasers(bool continueOnFailedConnect = false, bool addConnectedLasersToRobot = true, bool addAllLasersToRobot = false, bool turnOnLasers = true, bool powerCycleLaserOnFailedConnect = true, int *failedOnLaser = NULL); /// Sets up a laser to be connected AREXPORT bool setupLaser(ArLaser *laser, int laserNumber = 1); /// Connects the laser synchronously (will take up to a minute) AREXPORT bool connectLaser(ArLaser *laser, int laserNumber = 1, bool forceConnection = true); /// Adds a laser so parsing will get it AREXPORT bool addLaser(ArLaser *laser, int laserNumber = 1); /// Adds a laser for parsing but where connectLaser will be called later AREXPORT bool addPlaceholderLaser(ArLaser *placeholderLaser, int laserNumber = 1, bool takeOwnershipOfPlaceholder = false); /// Function to parse the arguments given in the constructor AREXPORT bool parseArgs(void); /// Function to parse the arguments given in an arbitrary parser AREXPORT bool parseArgs(ArArgumentParser *parser); /// Log the options the simple connector has AREXPORT void logOptions(void) const; /// Internal function to get the laser (only useful between parseArgs and connectLasers) AREXPORT ArLaser *getLaser(int laserNumber); /// Internal function to replace the laser (only useful between parseArgs and connectLasers) but not the laser data AREXPORT bool replaceLaser(ArLaser *laser, int laserNumber); protected: /// Class that holds information about the laser data class LaserData { public: LaserData(int number, ArLaser *laser, bool laserIsPlaceholder = false, bool ownPlaceholder = false) { myNumber = number; myLaser = laser; myConn = NULL; myLaserIsPlaceholder = laserIsPlaceholder; myOwnPlaceholder = ownPlaceholder; myConnect = false; myConnectReallySet = false; myPort = NULL; myPortType = NULL; myRemoteTcpPort = 0; myRemoteTcpPortReallySet = false; myFlipped = false; myFlippedReallySet = false; myDegreesStart = HUGE_VAL; myDegreesStartReallySet = false; myDegreesEnd = -HUGE_VAL; myDegreesEndReallySet = false; myDegrees = NULL; myIncrementByDegrees = -HUGE_VAL; myIncrementByDegreesReallySet = false; myIncrement = NULL; myUnits = NULL; myReflectorBits = NULL; myPowerControlled = true; myPowerControlledReallySet = false; myStartingBaud = NULL; myAutoBaud = NULL; myMaxRange = INT_MAX; myMaxRangeReallySet = false; myAdditionalIgnoreReadings = NULL; } virtual ~LaserData() {} /// The number of this laser int myNumber; /// The actual pointer to this laser ArLaser *myLaser; // our connection ArDeviceConnection *myConn; /// If the laser is a placeholder for parsing bool myLaserIsPlaceholder; /// If we own the placeholder laser bool myOwnPlaceholder; // if we want to connect the laser bool myConnect; // if myConnect was really set bool myConnectReallySet; // the port we want to connect the laser on const char *myPort; // the type of port we want to connect to the laser on const char *myPortType; // laser tcp port if we're doing a remote host int myRemoteTcpPort; // if our remote laser tcp port was really set bool myRemoteTcpPortReallySet; // if we have the laser flipped bool myFlipped; // if our flipped was really set bool myFlippedReallySet; // what degrees to start at double myDegreesStart; // if our start degrees was really set bool myDegreesStartReallySet; // what degrees to end at double myDegreesEnd; // if our end degrees was really set bool myDegreesEndReallySet; // the degrees we want wto use const char *myDegrees; // what increment to use double myIncrementByDegrees; // if our end degrees was really set bool myIncrementByDegreesReallySet; // the increment we want to use const char *myIncrement; /// the units we want to use const char *myUnits; /// the reflector bits we want to use const char *myReflectorBits; // if we are controlling the laser power bool myPowerControlled; // if our flipped was really set bool myPowerControlledReallySet; /// the starting baud we want to use const char *myStartingBaud; /// the auto baud we want to use const char *myAutoBaud; // if we set a new max range from the command line int myMaxRange; // if our new max range was really set bool myMaxRangeReallySet; /// the additional laser ignore readings const char *myAdditionalIgnoreReadings; }; std::map myLasers; /// Parses the laser arguments AREXPORT bool parseLaserArgs(ArArgumentParser *parser, LaserData *laserData); /// Logs the laser command line option help text. AREXPORT void logLaserOptions(LaserData *laserdata, bool header = true, bool metaOpts = true) const; // Sets the laser parameters bool internalConfigureLaser(LaserData *laserData); std::string myLaserTypes; // our parser ArArgumentParser *myParser; bool myOwnParser; // if we should autoparse args or toss errors bool myAutoParseArgs; bool myParsedArgs; ArRobot *myRobot; ArRobotConnector *myRobotConnector; ArLog::LogLevel myInfoLogLevel; ArRetFunctor1 *myTurnOnPowerOutputCB; ArRetFunctor1 *myTurnOffPowerOutputCB; ArRetFunctorC myParseArgsCB; ArConstFunctorC myLogOptionsCB; }; #endif // ARLASERCONNECTOR_H