#include <uhokuyo.h>

Inheritance diagram for UHokuyo:

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

virtual void	createBaseVars ()

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

virtual bool	isPortOpen ()

virtual bool	isUrg ()

	UHokuyo ()

	~UHokuyo ()

Public Member Functions inherited from ULaserDevice
virtual void	callGotNewDataWithObject ()

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	decodeData (char msg, const int msgCnt, ULaserData dest)

bool	decodeName (char *msg)

bool	getDataTo (char msg, const int msgCnt, ULaserData dest)

virtual double	getDefaultDelay ()

virtual const char *	getNameFromDevice ()

char *	makeGetDataString (char *cmdStr, const int cmdStrCnt)

virtual bool	openPort ()

virtual bool	receiveData ()

int	receiveFromDevice (char *start, int maxLng, double timeoutSec)

bool	requestMoreData ()

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

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

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 ULock
bool	lock ()

void	lockInit ()

void	post ()

bool	tryLock ()

bool	tryWait ()

	ULock ()

void	unlock ()

bool	wait ()

	~ULock ()

Protected Attributes
int	badSeries

char	dataBuf [MAX_DATA_LNG]

int	dataCnt

UTime	dataRxTime

UTime	dataTime

int	hfd

ULaserData *	lasData

ULogFile	laslog

int	versionInfoCnt

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

Detailed Description

Interface to Hokuyo laserscanner

Author: Christian Andersen

Constructor & Destructor Documentation

UHokuyo::UHokuyo ( )

Constructor

References ULaserDevice::angleResolution, badSeries, dataBuf, dataCnt, hfd, lasData, laslog, MAX_NAME_LNG, ULaserDevice::maxValidRange, ULaserDevice::modeAngleScan, ULaserDevice::name, ULaserDevice::setDeviceName(), ULogFile::setLogName(), and versionInfoCnt.

UHokuyo::~UHokuyo ( )

Destructor

References ULogFile::closeLog(), laslog, and ULaserDevice::stop().

Member Function Documentation

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

virtual

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

Reimplemented from ULaserDevice.

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

void UHokuyo::closePort ( )

protectedvirtual

Close serial port

Reimplemented from ULaserDevice.

References ULaserDevice::getDeviceName(), hfd, ULock::lock(), UTime::now(), toLog(), and ULock::unlock().

Referenced by getNameFromDevice(), and isUrg().

void UHokuyo::createBaseVars ( )

virtual

Create entry infor the globas variable database for this device

Reimplemented from ULaserDevice.

References ULaserDevice::createBaseVars(), and ULaserDevice::var.

Referenced by isUrg().

bool UHokuyo::decodeData	(	char *	msg,
		const int	msgCnt,
		ULaserData *	dest
	)

protected

Decode mesaurement data message.

Parameters

msg	is the mesaage to decode.
msgCnt	is the length of the message
dest	is the destination buffer for the scan

Returns: true if scan is valid

References ULaserDevice::datalog, dataRxTime, getDataTo(), ULogFile::isOpen(), laslog, makeGetDataString(), ULaserDevice::serial, ULaserData::setScanTime(), ULaserData::setSerial(), ULaserData::setUnit(), ULaserData::setValid(), ULogFile::toLog(), ULaserDevice::var, and ULaserDevice::verbose.

Referenced by isUrg(), and receiveData().

bool UHokuyo::decodeName ( char * msg )

protected

Decode name message

References MAX_DEVICE_NAME_LNG, ULaserDevice::name, and ULaserDevice::var.

Referenced by isUrg(), and receiveData().

bool UHokuyo::getDataTo	(	char *	msg,
		const int	msgCnt,
		ULaserData *	dest
	)

protected

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

Parameters

msg	is the mesaage to decode.
msgCnt	is the length of the message
dest	is the destination buffer for the scan

Returns: true if successful (scan is valid)

References ULaserData::addMeasurements(), dataRxTime, UTime::getTimeAsString(), laslog, MAX_RANGE_VALUES, ULaserDevice::mirrorData, ULaserData::reInitMeasurements(), ULaserData::setMeasurement(), ULaserData::setMirror(), ULogFile::toLog(), and ULaserDevice::verbose.

Referenced by decodeData(), and isUrg().

virtual double UHokuyo::getDefaultDelay ( )

inlineprotectedvirtual

Get default delat estimate for the device type

here expected to be a bit more than half a scantime (at 10 scans per second)

Reimplemented from ULaserDevice.

const char * UHokuyo::getNameFromDevice ( )

protectedvirtual

Get name of device

Reimplemented from ULaserDevice.

References closePort(), ULaserDevice::getName(), isPortOpen(), ULock::lock(), sendToDevice(), ULaserDevice::start(), ULock::unlock(), and Wait().

Referenced by isUrg().

bool UHokuyo::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, dataRxTime, ULaserDevice::deviceNum, ULaserDevice::getFakeScan(), ULaserData::getSerial(), isPortOpen(), ULaserData::isValid(), lasData, ULock::lock(), ULaserDevice::logThisScan(), ULaserData::setDeviceNum(), ULaserData::setValid(), and ULock::unlock().

bool UHokuyo::isPortOpen ( )

virtual

Is the port to the device open

Reimplemented from ULaserDevice.

References hfd.

Referenced by getNameFromDevice(), getNewestData(), and receiveData().

virtual bool UHokuyo::isUrg ( )

inlinevirtual

Is laserscanner an URG (Hokuyo) scanner

References closePort(), createBaseVars(), data, decodeData(), decodeName(), getDataTo(), getNameFromDevice(), makeGetDataString(), openPort(), receiveData(), receiveFromDevice(), requestMoreData(), sendToDevice(), ULaserDevice::start(), and toLog().

char * UHokuyo::makeGetDataString	(	char *	cmdStr,
		const int	cmdStrCnt
	)

protected

Make the get-data command, e.g. "\nG04572501\n" for data element 45 to 725 with 1 measurement in each value. An extra "\n" is added in front as a workaround for an interface problem, where some data are repeated - an error will be received before tha valid data. Takes a string buffer 'cmdStr' of length 'cmdStrCnt'. Returns 'cmdStr'. Nothing is changed if no string is provided or string is too short (at least 11 characters is needed).

References ULaserDevice::angleResolution, ULaserDevice::modeAngleScan, and roundi().

Referenced by decodeData(), isUrg(), and requestMoreData().

bool UHokuyo::openPort ( )

protectedvirtual

Open serial post. Return true if open(ed)

Reimplemented from ULaserDevice.

References badSeries, ULaserDevice::devName, hfd, ULock::lock(), UTime::now(), ULaserDevice::open, requestMoreData(), sendToDevice(), setDeviceSpeed(), toLog(), ULock::unlock(), versionInfoCnt, and Wait().

Referenced by isUrg().

bool UHokuyo::receiveData ( )

protectedvirtual

Receive data from device – called from device loop, should return as fast as possible after dooing 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 badSeries, bool2str(), dataBuf, dataCnt, dataTime, decodeData(), decodeName(), ULaserDevice::deviceNum, ULaserData::getRangeCnt(), UTime::getTimePassed(), ULaserDevice::gotNewScan(), isPortOpen(), lasData, laslog, ULock::lock(), MAX_DATA_LNG, ULaserDevice::maxValidRange, ULaserDevice::mirrorData, UTime::Now(), receiveFromDevice(), requestMoreData(), sendToDevice(), ULaserData::setDeviceNum(), ULaserData::setMaxValidRange(), ULaserData::setMirror(), ULaserDevice::statBadCnt, ULaserDevice::statGoodCnt, ULogFile::toLog(), ULock::unlock(), ULaserDevice::verbose, and versionInfoCnt.

Referenced by isUrg().

int UHokuyo::receiveFromDevice	(	char *	start,
		int	maxLng,
		double	timeoutSec
	)

protected

Receive data from device, at maximum 'maxLng' of bytes. Return if timeout ('timeoutSec' sec) or when a '

' is received - there may be additional data after '

'. Returns when 'maxLng' is reached too

References ULogFile::closeLog(), dataRxTime, hfd, ULogFile::isLogOpen(), ULogFile::isOpen(), laslog, UTime::now(), ULogFile::openLog(), roundi(), ULaserDevice::start(), toLog(), and ULaserDevice::verbose.