#include <ulms500.h>

Inheritance diagram for ULms500:

Public Member Functions
virtual bool	changeMode (int scanangle, double resolution)

virtual bool	getNewestData (ULaserData *dest, unsigned long lastSerial, int fake)

virtual bool	isLms500 ()

virtual bool	isPortOpen ()

	ULms500 ()

	~ULms500 ()

Public Member Functions inherited from ULaserDevice
virtual void	callGotNewDataWithObject ()

virtual void	createBaseVars ()

unsigned int	getBad ()

char *	getDeviceName ()

int	getDeviceNum ()

UPosition	getDevicePos ()

UPosRot	getDevicePose ()

URotation	getDeviceRot ()

unsigned int	getGood ()

char *	getLogFileName (char *buffer, int bufferCnt)

int	getLogInterval ()

bool	getLogUsedScans ()

int	getMaxMeasurements ()

bool	getMirror ()

double	getMsgRate ()

char *	getName ()

int	getScanAngle ()

double	getScanAngle (int measurement)

double	getScanResolution ()

unsigned long	getSerial ()

void	gotNewScan (ULaserData *gotData)

virtual bool	isLogFileOpen ()

virtual bool	isReplayDevice ()

bool	isRunning ()

bool	isSend ()

virtual bool	isVerbose ()

void	logFileClose ()

bool	logFileOpen ()

void	logThisScan (ULaserData *scan)

void	openRequest (bool toOpen)

void	print (char *preString)

virtual const char *	print (const char preString, char buff, int buffCnt)

void	send (char *msg)

virtual void	setCore (UCmdExe *pCore)

virtual void	setDeviceName (const char *device)

void	setDeviceNum (int value)

void	setDevicePose (UPosRot *newPose)

void	setLogInterval (int value)

void	setLogUsedScans (bool value)

void	setMirror (bool value)

void	setVarStructure (UVarPool *varStruct)

void	setVerbose (bool value)

bool	start ()

void	stop (bool justClosePort)

void	threadRunLoop ()

	ULaserDevice ()

virtual	~ULaserDevice ()

Public Member Functions inherited from UServerPush
int	addPushCommand (UServerInMsg *msg)

bool	doPushCall (UServerPushElement pe, const char value)

void	flushClientCmds (int clientIdx)

UServerPushImplement *	getImplementor ()

int	getPushCmdCnt (int cmdCnt, int callCnt)

UServerPushQueue *	getPushQueue ()

bool	gotCmdExe ()

void	gotNewData (void *pData)

bool	isUpdated (int lastCnt, int *newCnt)

bool	needNewData ()

void	print (const char *preString)

void	print (const char preString, char buff, int buffCnt)

void	servicePendingPushCmds ()

void	setCmdExe (UServerPushImplement *executor)

void	setImplementor (UServerPushImplement *executor)

bool	setResource (UResBase *resource, bool remove)

bool	setUpdated (const char *value)
	Add watch object if needed. An image or other object is updated. set object as updated, with an extra qualifier, that may be used as a parameter in a push call. this push list is then added to the to the push list examined by the server thread. when server thread reach this push list it will call to get a possible associated data structure by a call to needNewData() whish is expected to call gotNewData(void * data_structure) - but now in the server thread. More...

	UServerPush ()

virtual	~UServerPush ()

Protected Member Functions
virtual void	closePort ()

bool	configLMS5xx (int frq, float res, double scanangle)

char *	decodeData (char *msg, UTime rxTime, int dataCnt)
	Decode message from laserscanner. Handles all received messagetypes, and stores result as appropriate. More...

bool	decodeName (char *msg)

bool	getDataTo (char msg, ULaserData dest)

virtual double	getDefaultDelay ()

virtual const char *	getNameFromDevice ()

virtual bool	openPort ()

virtual bool	receiveData ()

virtual bool	sendToDevice (const char *msg, int lng)

bool	setAllEchos ()

bool	setDataFrqAndRes (int frq, float res)

bool	setDataOutput ()

bool	setDataOutputRange (double angle)

void	toLog (const char data, int length, const char pre)

Protected Member Functions inherited from ULaserDevice
void	getFakeScan (ULaserData *dest, unsigned long lastSerial, int fake, double fakeDt=0.2)

void	updateScanData (UTime scanTime)

Protected Member Functions inherited from UClientPort
virtual void	connectionChange (bool nowConnected)

virtual void	sendNamespaceOpenTag ()

bool	blockSend (const char *buffer, int length)

void	closeConnection ()

int	getDataFromLine (char *buffer, int bufferSize, int pollTimeoutMs)

const char *	getHost ()

const char *	getHostIP ()

int	getPort ()

bool	isConnected ()

bool	isVerbose ()

bool	sendMsg (const char *message)

bool	sendWithLock (const char *message)

void	setHost (const char *toHost)

void	setPort (int toPort)

void	setVerbose (bool value)

bool	tryConnect ()

	UClientPort ()

virtual	~UClientPort ()

Protected Member Functions inherited from ULock
bool	lock ()

void	lockInit ()

void	post ()

bool	tryLock ()

bool	tryWait ()

	ULock ()

void	unlock ()

bool	wait ()

	~ULock ()

Protected Attributes
char	dataBuf [MAX_LMS500_LNG]

int	dataCnt

UTime	dataRxTime

UTime	dataTime

ULaserData *	lasData

ULogFile	laslog

Protected Attributes inherited from ULaserDevice
double	angleResolution

ULogFile	datalog

int	datalogSeq

bool	datalogUsedScans

int	deviceNum

char	devName [MAX_DEVICE_NAME_LNG]

UTime	lastScanTime

int	loopCnt

double	maxValidRange

bool	mirrorData

int	modeAngleScan

char	name [MAX_NAME_LNG]

ULaserData *	pushData

bool	replayOrFake

bool	sendNewData

char	sendStr [MAX_SEND_MSG_LNG]

int	sendStrCnt

unsigned long	serial

unsigned int	statBadCnt

unsigned int	statGoodCnt

double	statMsgRate

pthread_t	threadHandle

bool	threadRunning

bool	threadStop

struct {
UVariable * framerate

UVariable * logData

UVariable * logDataInterval

UVariable * logSource

UVariable * maxRange

UVariable * name

UVariable * open

UVariable * pose

UVariable * scanDelay

UVariable * scanres

UVariable * scanwidth

UVariable * serial

UVariable * type

UVariable * versionInfo

}	var

UVarPool *	vars

bool	verbose

Protected Attributes inherited from UClientPort
enum UClientPort:: { ... }	connectionLostReason

UTime	connectTime

char	host [MAX_HOST_LENGTH]

char	hostIP [MAX_HOST_LENGTH]

int	port

unsigned int	readCnt

bool	verboseMessages

int	rxByteCnt

ULock	tx

Static Protected Attributes
static const char	ETX = 3

static const char	STX = 2

Private Attributes
bool	finishedScan

Additional Inherited Members
Protected Types inherited from UClientPort
enum	{ notLost, forReopen, rxError, txError }

Detailed Description

Interface to LMS500 laser scanner

Author: Christian Andersen

Constructor & Destructor Documentation

ULms500::ULms500 ( )

Constructor

References ULaserDevice::angleResolution, dataBuf, dataCnt, finishedScan, lasData, laslog, MAX_NAME_LNG, ULaserDevice::maxValidRange, ULaserDevice::modeAngleScan, ULaserDevice::name, ULogFile::openLog(), and ULaserDevice::setDeviceName().

ULms500::~ULms500 ( )

Destructor

References ULogFile::closeLog(), closePort(), finishedScan, UClientPort::isConnected(), ULogFile::isOpen(), laslog, and ULaserDevice::stop().

Member Function Documentation

bool ULms500::changeMode	(	int	scanangle,
		double	resolution
	)

virtual

Change scanner resolution mode. Returns true if new resolution is set

Reimplemented from ULaserDevice.

References ULaserDevice::angleResolution, configLMS5xx(), mini(), and ULaserDevice::modeAngleScan.

void ULms500::closePort ( )

protectedvirtual

Close serial port

Reimplemented from ULaserDevice.

References UClientPort::closeConnection(), ULock::lock(), toLog(), and ULock::unlock().

Referenced by isLms500(), and ~ULms500().

bool ULms500::configLMS5xx	(	int	frq,
		float	res,
		double	scanangle
	)

protected

configure data settings for LMS 500 series

Parameters

frq	is update frequency 25, 33, 50, 75, 100
res	is resolution 0.1667, 0.25, 0.333, 0.5, 0.667, 1.0
scanangle	is scanangle 180 deg is from -90 to +90

Returns: true if send

References sendToDevice(), setAllEchos(), setDataFrqAndRes(), setDataOutput(), and setDataOutputRange().

Referenced by changeMode(), getDefaultDelay(), and openPort().

char * ULms500::decodeData	(	char *	msg,
		UTime	rxTime,
		int	dataCnt
	)

protected

Decode message from laserscanner. Handles all received messagetypes, and stores result as appropriate.

Parameters

msg	is a 0 terminated string (but may have binary parts). Intial STX and terminating ETX is removed.
rxTime	is time-stamp just after start of receive
dataCnt	is number of characters in buffer

Returns: pointer to the first unused character. This may be the same as 'msg', as 'msg' may be part of a message only.

References dataRxTime, dataTime, ULaserDevice::deviceNum, ETX, finishedScan, getDataTo(), ULaserDevice::gotNewScan(), lasData, laslog, ULock::lock(), ULaserDevice::maxValidRange, ULaserDevice::mirrorData, UTime::Now(), ULaserDevice::serial, ULaserData::setDeviceNum(), ULaserData::setMaxValidRange(), ULaserData::setMirror(), ULaserData::setScanTime(), ULaserData::setSerial(), ULaserData::setUnit(), ULaserData::setValid(), ULaserDevice::statGoodCnt, ULogFile::toLog(), ULock::unlock(), and ULaserDevice::var.

Referenced by isLms500(), and receiveData().

bool ULms500::decodeName ( char * msg )

protected

Decode name message

References MAX_DEVICE_NAME_LNG, and ULaserDevice::name.

Referenced by isLms500().

bool ULms500::getDataTo	(	char *	msg,
		ULaserData *	dest
	)

protected

Decode this 'msg' data to the 'dest' structure.

Parameters

References ULaserData::addMeasurements(), ULaserDevice::getMirror(), and ULaserData::setMeasurement().

Referenced by decodeData(), and isLms500().

virtual double ULms500::getDefaultDelay ( )

inlineprotectedvirtual

Get default delay estimate for the device type

here expected to be a bit more than half a scan-time (at 50 scans per second)

Reimplemented from ULaserDevice.

References configLMS5xx(), setAllEchos(), setDataFrqAndRes(), setDataOutput(), and setDataOutputRange().

const char * ULms500::getNameFromDevice ( )

protectedvirtual

Get name of device

Reimplemented from ULaserDevice.

References ULaserDevice::getName().

Referenced by isLms500().

bool ULms500::getNewestData	(	ULaserData *	dest,
		unsigned long	lastSerial,
		int	fake
	)

virtual

Get the newest data unpacked to this structure. Returns true if valid.

Reimplemented from ULaserDevice.

References ULaserData::copy(), ULaserDevice::datalogUsedScans, ULaserDevice::deviceNum, ULaserDevice::getFakeScan(), ULaserData::getSerial(), isPortOpen(), ULaserData::isValid(), lasData, ULock::lock(), ULaserDevice::logThisScan(), ULaserData::setDeviceNum(), ULaserData::setValid(), ULaserDevice::start(), and ULock::unlock().

virtual bool ULms500::isLms500 ( )

inlinevirtual

Is laserscanner a LMS500 scanner

References closePort(), data, dataCnt, decodeData(), decodeName(), getDataTo(), getNameFromDevice(), openPort(), receiveData(), sendToDevice(), and toLog().

bool ULms500::isPortOpen ( )

virtual

Is the port to the device open

Reimplemented from ULaserDevice.

References UClientPort::isConnected().

Referenced by getNewestData(), and receiveData().

bool ULms500::openPort ( )

protectedvirtual

Open serial post. Return true if open(ed)

Reimplemented from ULaserDevice.

References configLMS5xx(), ULaserDevice::devName, finishedScan, UClientPort::setHost(), UClientPort::setPort(), toLog(), UClientPort::tryConnect(), and Wait().

Referenced by isLms500().

bool ULms500::receiveData ( )

protectedvirtual

Receive data from device – called from device loop, should return as fast as possible after doing the job, i.e. no blocking read. Should add number of good and bad blocks of data to statBadCnt and statGootcnt. Returns true if data received.

Reimplemented from ULaserDevice.

References dataBuf, dataCnt, dataRxTime, dataTime, decodeData(), ETX, finishedScan, UClientPort::getDataFromLine(), UTime::getTimePassed(), isPortOpen(), laslog, ULock::lock(), MAX_LMS500_LNG, UTime::now(), sendToDevice(), ULaserDevice::statBadCnt, STX, ULogFile::toLog(), and ULock::unlock().