251 lines
7.4 KiB
C++
251 lines
7.4 KiB
C++
/*
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Adept MobileRobots Robotics Interface for Applications (ARIA)
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Copyright (C) 2004, 2005 ActivMedia Robotics LLC
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Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
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Copyright (C) 2011, 2012, 2013 Adept Technology
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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If you wish to redistribute ARIA under different terms, contact
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Adept MobileRobots for information about a commercial version of ARIA at
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robots@mobilerobots.com or
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Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
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*/
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#ifndef ARS3SERIES_H
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#define ARS3SERIES_H
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#include "ariaTypedefs.h"
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#include "ariaOSDef.h"
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#include "ArRobotPacket.h"
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#include "ArLaser.h"
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#include "ArFunctor.h"
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/** @internal */
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class ArS3SeriesPacket : public ArBasePacket
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{
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public:
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/// Constructor
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AREXPORT ArS3SeriesPacket();
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/// Destructor
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AREXPORT virtual ~ArS3SeriesPacket();
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/// Gets the time the packet was received at
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AREXPORT ArTime getTimeReceived(void);
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/// Sets the time the packet was received at
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AREXPORT void setTimeReceived(ArTime timeReceived);
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AREXPORT virtual void duplicatePacket(ArS3SeriesPacket *packet);
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AREXPORT virtual void empty(void);
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void setDataLength(int x)
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{ myDataLength = x; }
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int getDataLength()
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{ return myDataLength; }
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void setNumReadings(int x)
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{ myNumReadings = x; }
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int getNumReadings()
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{ return myNumReadings; }
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void setStatusByte(unsigned char c)
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{ myStatusByte = c; }
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unsigned char getStatusByte()
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{ return myStatusByte; }
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void setTimeStampByte1(unsigned char c)
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{ myTimeStampByte1 = c; }
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unsigned char getTimeStampByte1()
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{ return myTimeStampByte1; }
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void setTimeStampByte2(unsigned char c)
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{ myTimeStampByte2 = c; }
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unsigned char getTimeStampByte2()
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{ return myTimeStampByte2; }
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void setTimeStampByte3(unsigned char c)
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{ myTimeStampByte3 = c; }
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unsigned char getTimeStampByte3()
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{ return myTimeStampByte3; }
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void setTimeStampByte4(unsigned char c)
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{ myTimeStampByte4 = c; }
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unsigned char getTimeStampByte4()
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{ return myTimeStampByte4; }
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unsigned char getTelegramNumByte1()
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{ return myTelegramNumByte1; }
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unsigned char getTelegramNumByte2()
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{ return myTelegramNumByte2; }
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void setTelegramNumByte2(unsigned char c)
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{ myTelegramNumByte2 = c; }
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void setTelegramNumByte1(unsigned char c)
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{ myTelegramNumByte1 = c; }
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unsigned char getCrcByte1()
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{ return myCrcByte1; }
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void setCrcByte1(unsigned char c)
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{ myCrcByte1 = c; }
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unsigned char getCrcByte2()
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{ return myCrcByte2; }
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void setCrcByte2(unsigned char c)
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{ myCrcByte2 = c; }
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unsigned char getMonitoringDataByte1()
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{ return myMonitoringDataByte1; }
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void setMonitoringDataByte1(unsigned char c)
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{ myMonitoringDataByte1 = c; }
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unsigned char getMonitoringDataByte2()
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{ return myMonitoringDataByte2; }
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void setMonitoringDataByte2(unsigned char c)
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{ myMonitoringDataByte2 = c; }
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bool getMonitoringDataAvailable()
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{ return myMonitoringDataAvailable; }
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void setMonitoringDataAvailable(bool c)
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{ myMonitoringDataAvailable = c; }
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unsigned char getProtocolVersionByte1()
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{ return myProtocolVersionByte1; }
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void setProtocolVersionByte1(unsigned char c)
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{ myProtocolVersionByte1 = c; }
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unsigned char getProtocolVersionByte2()
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{ return myProtocolVersionByte2; }
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void setProtocolVersionByte2(unsigned char c)
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{ myProtocolVersionByte2 = c; }
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protected:
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ArTime myTimeReceived;
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// S3S specific
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int myDataLength;
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int myNumReadings;
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unsigned char myStatusByte;
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unsigned char myTimeStampByte1;
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unsigned char myTimeStampByte2;
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unsigned char myTimeStampByte3;
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unsigned char myTimeStampByte4;
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unsigned char myTelegramNumByte1;
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unsigned char myTelegramNumByte2;
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unsigned char myCrcByte1;
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unsigned char myCrcByte2;
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bool myMonitoringDataAvailable;
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unsigned char myMonitoringDataByte1;
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unsigned char myMonitoringDataByte2;
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unsigned char myProtocolVersionByte1;
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unsigned char myProtocolVersionByte2;
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};
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/// Given a device connection it receives packets from the sick through it
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/// @internal
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class ArS3SeriesPacketReceiver
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{
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public:
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/// Constructor with assignment of a device connection
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AREXPORT ArS3SeriesPacketReceiver();
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/// Destructor
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AREXPORT virtual ~ArS3SeriesPacketReceiver();
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/// Receives a packet from the robot if there is one available
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AREXPORT ArS3SeriesPacket *receivePacket(unsigned int msWait = 0,
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bool shortcut = false);
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/// Sets the device this instance receives packets from
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AREXPORT void setDeviceConnection(ArDeviceConnection *conn);
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/// Gets the device this instance receives packets from
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AREXPORT ArDeviceConnection *getDeviceConnection(void);
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unsigned short CRC16(unsigned char *, int);
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// PS - added to pass info to this class
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AREXPORT void setInfoLogLevel(ArLog::LogLevel infoLogLevel)
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{ myInfoLogLevel = infoLogLevel; }
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AREXPORT void setIsS300(bool isS300)
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{ myIsS300 = isS300; }
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AREXPORT void setName(const char *name )
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{ strcpy(myName, name); }
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protected:
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ArDeviceConnection *myConn;
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ArS3SeriesPacket myPacket;
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char myName[1024];
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unsigned int myNameLength;
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unsigned char myReadBuf[100000];
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int myReadCount;
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bool myIsS300;
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ArLog::LogLevel myInfoLogLevel;
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};
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/**
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@since Aria 2.7.4
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@see ArLaserConnector
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Use ArLaserConnector to connect to a laser, determining type based on robot and program configuration parameters.
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*/
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class ArS3Series : public ArLaser
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{
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public:
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/// Constructor
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AREXPORT ArS3Series(int laserNumber,
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const char *name = "S3Series");
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/// Destructor
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AREXPORT ~ArS3Series();
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AREXPORT virtual bool blockingConnect(void);
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AREXPORT virtual bool asyncConnect(void);
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AREXPORT virtual bool disconnect(void);
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virtual bool isConnected(void) { return myIsConnected; }
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virtual bool isTryingToConnect(void)
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{
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if (myStartConnect)
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return true;
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else if (myTryingToConnect)
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return true;
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else
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return false;
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}
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AREXPORT bool isMonitoringDataAvailable(void)
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{ return myIsMonitoringDataAvailable; }
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AREXPORT int getMonitoringData(void)
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{ return myMonitoringData; }
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AREXPORT bool compareMonitoringDataAgainst(int val)
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{ return myMonitoringData == val; }
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/// Logs the information about the sensor
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AREXPORT void log(void);
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protected:
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AREXPORT virtual void laserSetName(const char *name);
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AREXPORT virtual void * runThread(void *arg);
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AREXPORT virtual void setRobot(ArRobot *robot);
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void sensorInterp(void);
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void failedToConnect(void);
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void clear(void);
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bool myIsConnected;
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bool myTryingToConnect;
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bool myStartConnect;
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int myNumChans;
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bool myIsMonitoringDataAvailable;
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int myMonitoringData;
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ArLog::LogLevel myLogLevel;
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ArS3SeriesPacketReceiver myReceiver;
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ArMutex myPacketsMutex;
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ArMutex myDataMutex;
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std::list<ArS3SeriesPacket *> myPackets;
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ArFunctorC<ArS3Series> mySensorInterpTask;
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ArRetFunctorC<bool, ArS3Series> myAriaExitCB;
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};
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#endif
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