128 lines
3.9 KiB
C++
128 lines
3.9 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 ARURG_H
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#define ARURG_H
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#include "ariaTypedefs.h"
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#include "ArLaser.h"
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#include "ArDeviceConnection.h"
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/** Hokuyo Urg laser range device.
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* Connects using the Urg's serial port connector (not USB).
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* Supports URG-04LX using SCIP 1.1 protocol only. See ArLaserConnector for instructions on
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* using lasers in a program.
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@sa ArUrg_2_0
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@sa ArLaserConnector
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@sa ArLaser
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* @since 2.7.0
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*/
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class ArUrg : public ArLaser
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{
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public:
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/// Constructor
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AREXPORT ArUrg(int laserNumber,
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const char *name = "urg");
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/// Destructor
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AREXPORT ~ArUrg();
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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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AREXPORT virtual bool isConnected(void) { return myIsConnected; }
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AREXPORT 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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/// Logs the information about the sensor
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AREXPORT void log(void);
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protected:
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/// Sets the parameters that control what data you get from the urg
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AREXPORT bool setParams(
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double startingDegrees = -135, double endingDegrees = 135,
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double incrementDegrees = 1, bool flipped = false);
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/// Sets the parameters that control what data you get from the urg
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AREXPORT bool setParamsBySteps(
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int startingStep = 0, int endingStep = 768, int clusterCount = 3,
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bool flipped = false);
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AREXPORT virtual void * runThread(void *arg);
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/// internal call to write a string to the urg
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bool writeLine(const char *str);
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/// internal call to read a string from the urg
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bool readLine(char *buf, unsigned int size, unsigned int msWait);
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/// internal call to write a command and get the response back into the buf
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bool sendCommandAndRecvStatus(
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const char *command, const char *commandDesc,
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char *status, unsigned int size, unsigned int msWait);
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void sensorInterp(void);
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AREXPORT virtual void setRobot(ArRobot *robot);
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AREXPORT virtual bool laserCheckParams(void);
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AREXPORT virtual void laserSetName(const char *name);
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void failedToConnect(void);
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ArMutex myReadingMutex;
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ArMutex myDataMutex;
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ArTime myReadingRequested;
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std::string myReading;
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int myStartingStep;
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int myEndingStep;
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int myClusterCount;
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bool myFlipped;
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char myRequestString[1024];
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double myClusterMiddleAngle;
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bool internalConnect(void);
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bool internalGetReading(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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std::string myVendor;
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std::string myProduct;
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std::string myFirmwareVersion;
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std::string myProtocolVersion;
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std::string mySerialNumber;
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std::string myStat;
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bool myLogMore;
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ArFunctorC<ArUrg> mySensorInterpTask;
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ArRetFunctorC<bool, ArUrg> myAriaExitCB;
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};
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#endif // ARURG_H
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