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ArLMS2xx.cpp
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ArLMS2xx.cpp
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/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004-2005 ActivMedia Robotics LLC
Copyright (C) 2006-2010 MobileRobots Inc.
Copyright (C) 2011-2015 Adept Technology, Inc.
Copyright (C) 2016-2018 Omron Adept Technologies, Inc.
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
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#include "ArExport.h"
#include "ariaOSDef.h"
#include "ArLMS2xx.h"
#include "ArRobot.h"
#include "ArSerialConnection.h"
#include "ariaInternal.h"
#include <time.h>
AREXPORT ArLMS2xx::ArLMS2xx(
int laserNumber, const char *name, bool appendLaserNumberToName) :
ArLaser(laserNumber, name, 32000, false, appendLaserNumberToName),
mySimPacketHandler(this, &ArLMS2xx::simPacketHandler),
mySensorInterpCB(this, &ArLMS2xx::sensorInterpCallback),
myLMS2xxPacketReceiver(0, true),
myAriaExitCB(this, &ArLMS2xx::disconnect)
{
std::string str;
laserSetName(getName());
laserSetDefaultTcpPort(8102);
laserSetDefaultPortType("serial");
Aria::addExitCallback(&myAriaExitCB, -10);
std::map<std::string, double> degreesChoices;
degreesChoices["180"] = 180;
degreesChoices["100"] = 100;
laserAllowDegreesChoices("180", degreesChoices);
std::map<std::string, double> incrementChoices;
incrementChoices["one"] = 1;
incrementChoices["half"] = .5;
laserAllowIncrementChoices("one", incrementChoices);
std::list<std::string> unitsChoices;
unitsChoices.push_back("1mm");
unitsChoices.push_back("1cm");
unitsChoices.push_back("10cm");
laserAllowUnitsChoices("1mm", unitsChoices);
laserAllowSetPowerControlled(false);
std::list<std::string> reflectorBitsChoices;
reflectorBitsChoices.push_back("1ref");
reflectorBitsChoices.push_back("2ref");
reflectorBitsChoices.push_back("3ref");
laserAllowReflectorBitsChoices("1ref", reflectorBitsChoices);
std::list<std::string> baudChoices;
baudChoices.push_back("9600");
baudChoices.push_back("19200");
baudChoices.push_back("38400");
laserAllowStartingBaudChoices("9600", baudChoices);
laserAllowAutoBaudChoices("38400", baudChoices);
myAssembleReadings = new std::list<ArSensorReading *>;
myCurrentReadings = new std::list<ArSensorReading *>;
myRawReadings = myCurrentReadings;
myIter = myAssembleReadings->begin();
myConn = NULL;
myRobot = NULL;
myStartConnect = false;
myRunningOnRobot = false;
switchState(STATE_NONE);
myProcessImmediately = false;
myInterpolation = true;
myUseSim = false;
setMinDistBetweenCurrent(0);
setMaxDistToKeepCumulative(6000);
setMinDistBetweenCumulative(200);
setMaxSecondsToKeepCumulative(30);
setMaxInsertDistCumulative(3000);
setCumulativeCleanDist(75);
setCumulativeCleanInterval(1000);
resetLastCumulativeCleanTime();
setCurrentDrawingData(
new ArDrawingData("polyDots",
ArColor(0, 0, 255),
80, // mm diameter of dots
75), // layer above sonar
true);
setCumulativeDrawingData(
new ArDrawingData("polyDots",
ArColor(125, 125, 125),
100, // mm diameter of dots
60), // layer below current range devices
true);
}
AREXPORT ArLMS2xx::~ArLMS2xx()
{
Aria::remExitCallback(&myAriaExitCB);
if (myRobot != NULL)
{
myRobot->remRangeDevice(this);
myRobot->remLaser(this);
myRobot->remPacketHandler(&mySimPacketHandler);
myRobot->remSensorInterpTask(&mySensorInterpCB);
}
lockDevice();
if (isConnected())
{
disconnect();
}
unlockDevice();
}
AREXPORT void ArLMS2xx::laserSetName(const char *name)
{
myName = name;
myStateMutex.setLogNameVar("%s::myStateMutex", getName());
myAriaExitCB.setNameVar("%s::exitCallback", getName());
mySimPacketHandler.setNameVar("%s::simPacketHandler", getName());
ArLaser::laserSetName(getName());
}
AREXPORT bool ArLMS2xx::sickGetIsUsingSim(void)
{
return myUseSim;
}
AREXPORT void ArLMS2xx::sickSetIsUsingSim(bool usingSim)
{
myUseSim = usingSim;
}
AREXPORT void ArLMS2xx::setDeviceConnection(ArDeviceConnection *conn)
{
myConnMutex.lock();
myLMS2xxPacketReceiver.setDeviceConnection(conn);
myConnMutex.unlock();
ArLaser::setDeviceConnection(conn);
}
AREXPORT void ArLMS2xx::setRobot(ArRobot *robot)
{
myRobot = robot;
if (myRobot != NULL)
{
myRobot->addPacketHandler(&mySimPacketHandler, ArListPos::LAST);
myRobot->addSensorInterpTask("sick", 90, &mySensorInterpCB);
}
ArRangeDevice::setRobot(robot);
}
/** @internal */
AREXPORT bool ArLMS2xx::simPacketHandler(ArRobotPacket *packet)
{
std::list<ArFunctor *>::iterator it;
unsigned int totalNumReadings;
unsigned int readingNumber;
double atDeg;
unsigned int i;
ArSensorReading *reading;
std::list<ArSensorReading *>::iterator tempIt;
unsigned int newReadings;
int range;
int refl = 0;
ArPose encoderPose;
//std::list<double>::iterator ignoreIt;
bool ignore;
if (packet->getID() != 0x60 && packet->getID() != 0x61)
return false;
bool isExtendedPacket = (packet->getID() == 0x61);
// if we got here, its the right type of packet
//printf("Got in a packet from the simulator\n");
lockDevice();
//printf("1\n");
if (!myUseSim)
{
ArLog::log(ArLog::Terse,
"%s: Got a packet from the simulator with laser information, but the laser is not being simulated, major trouble.",
getName());
unlockDevice();
return true;
}
if(!isExtendedPacket)
{
// ignore the positional information
packet->bufToByte2();
packet->bufToByte2();
packet->bufToByte2();
}
totalNumReadings = packet->bufToByte2(); // total for this reading
readingNumber = packet->bufToByte2(); // which one we're on in this packet
newReadings = packet->bufToUByte(); // how many are in this packet
if (readingNumber == 0)
{
mySimPacketStart = myRobot->getPose();
mySimPacketTrans = myRobot->getToGlobalTransform();
mySimPacketEncoderTrans = myRobot->getEncoderTransform();
mySimPacketCounter = myRobot->getCounter();
}
//printf("ArLMS2xx::simPacketHandler: On reading number %d out of %d, new %d\n", readingNumber, totalNumReadings, newReadings);
// if we have too many readings in our list of raw readings, pop the extras
while (myAssembleReadings->size() > totalNumReadings)
{
ArLog::log(ArLog::Verbose, "ArLMS2xx::simPacketHandler, too many readings, popping one.");
tempIt = myAssembleReadings->begin();
if (tempIt != myAssembleReadings->end())
delete (*tempIt);
myAssembleReadings->pop_front();
}
// If we don't have any sensor readings created at all, make 'em all now
if (myAssembleReadings->size() == 0)
for (i = 0; i < totalNumReadings; i++)
myAssembleReadings->push_back(new ArSensorReading);
// Okay, we know where we're at, so get an iterator to the right spot, or
// make sure the one we keep around is in the right spot... if neither of
// these trigger, then the iter should be in the right spot
if ((readingNumber != myWhichReading + 1) ||
totalNumReadings != myTotalNumReadings)
{
//printf("2\n");
myWhichReading = readingNumber;
myTotalNumReadings = totalNumReadings;
for (i = 0, myIter = myAssembleReadings->begin(); i < readingNumber; i++)
{
tempIt = myIter;
tempIt++;
if (tempIt == myAssembleReadings->end() && (i + 1 != myTotalNumReadings))
myAssembleReadings->push_back(new ArSensorReading);
myIter++;
}
}
else
{
//printf("3\n");
myWhichReading = readingNumber;
}
atDeg = (mySensorPose.getTh() - myOffsetAmount +
readingNumber * myIncrementAmount);
//printf("4\n");
encoderPose = mySimPacketEncoderTrans.doInvTransform(mySimPacketStart);
// while we have in the readings and have stuff left we can read
for (i = 0;
// (myWhichReading < myTotalNumReadings &&
// packet->getReadLength() < packet->getLength() - 4);
i < newReadings;
i++, myWhichReading++, atDeg += myIncrementAmount)
{
reading = (*myIter);
range = packet->bufToUByte2();
if(isExtendedPacket)
{
refl = packet->bufToUByte();
packet->bufToUByte(); // don't need this byte for anything yet
packet->bufToUByte(); // don't need this byte for anything yet
}
ignore = false;
/*
for (ignoreIt = myIgnoreReadings.begin();
ignoreIt != myIgnoreReadings.end();
ignoreIt++)
{
//if (atDeg == 0)
//printf("Ignoring %.0f\n", (*ignoreIt));
if (ArMath::fabs(ArMath::subAngle(atDeg, *(ignoreIt))) < 1.0)
{
//printf("Ignoring %.0f\n", (*ignoreIt));
ignore = true;
break;
}
}
//if (myMinRange != 0 && range < (int)myMinRange)
//ignore = true;
if (myMaxRange != 0 && range > (int)myMaxRange)
ignore = true;
*/
reading->resetSensorPosition(ArMath::roundInt(mySensorPose.getX()),
ArMath::roundInt(mySensorPose.getY()),
atDeg);
// printf("dist %d\n", dist);
reading->newData(range, mySimPacketStart,
encoderPose,
mySimPacketTrans,
mySimPacketCounter, packet->getTimeReceived(), ignore, refl);
//printf("%d ", range);
//addReading(reading->getX(), reading->getY());
tempIt = myIter;
tempIt++;
if (tempIt == myAssembleReadings->end() &&
myWhichReading + 1 != myTotalNumReadings)
{
myAssembleReadings->push_back(new ArSensorReading);
}
myIter++;
}
// check if the sensor set is complete
//printf("%d %d %d\n", newReadings, readingNumber, totalNumReadings);
if (newReadings + readingNumber >= totalNumReadings)
{
// set ArRangeDevice buffer
myRawReadings = myAssembleReadings;
// switch internal buffers
myAssembleReadings = myCurrentReadings;
myCurrentReadings = myRawReadings;
// We have in all the readings, now sort 'em and update the current ones
//filterReadings();
laserProcessReadings();
//printf("\n");
}
unlockDevice();
return true;
}
/** @internal */
AREXPORT void ArLMS2xx::switchState(State state)
{
myStateMutex.lock();
myState = state;
myStateStart.setToNow();
myStateMutex.unlock();
}
/**
@internal
@return 0 if its still trying to connect, 1 if it connected, 2 if it failed
**/
AREXPORT int ArLMS2xx::internalConnectHandler(void)
{
ArLMS2xxPacket *packet;
ArSerialConnection *conn;
int value, autoBaud;
switch (myState)
{
case STATE_INIT:
if (myConn == NULL)
{
ArLog::log(ArLog::Terse,
"%s: Failed to connect to laser, have no deviceConnection.",
getName());
switchState(STATE_NONE);
failedConnect();
return 2;
}
if (myConn->getStatus() != ArDeviceConnection::STATUS_OPEN)
{
if ((conn = dynamic_cast<ArSerialConnection *>(myConn)) != NULL)
{
conn->setBaud(atoi(getStartingBaudChoice()));
}
if (!myConn->openSimple())
{
ArLog::log(ArLog::Terse,
"%s: Failed to connect to laser, could not open port.",
getName());
switchState(STATE_NONE);
failedConnect();
return 2;
}
}
if (!getPowerControlled())
{
/*
myPacket.empty();
myPacket.uByteToBuf(0x20);
myPacket.uByteToBuf(0x25);
myPacket.finalizePacket();
myConn->write(myPacket.getBuf(), myPacket.getLength());
*/
switchState(STATE_CHANGE_BAUD);
return internalConnectHandler();
}
ArLog::log(ArLog::Terse, "%s: waiting for laser to power on.",
getName());
myPacket.empty();
myPacket.uByteToBuf(0x10);
myPacket.finalizePacket();
if (myConn->write(myPacket.getBuf(), myPacket.getLength()))
{
switchState(STATE_WAIT_FOR_POWER_ON);
return 0;
}
else
{
ArLog::log(ArLog::Terse,
"%s: Failed to connect to laser, could not send init.",
getName());
switchState(STATE_NONE);
failedConnect();
return 2;
}
break;
case STATE_WAIT_FOR_POWER_ON:
while ((packet = myLMS2xxPacketReceiver.receivePacket()) != NULL)
{
if (packet->getID() == 0x90)
{
switchState(STATE_CHANGE_BAUD);
return 0;
}
}
if (myStateStart.secSince() > 65)
{
ArLog::log(ArLog::Terse,
"%s: Failed to connect to laser, no poweron received.",
getName());
switchState(STATE_NONE);
failedConnect();
return 2;
}
break;
case STATE_CHANGE_BAUD:
// don't autobaud if this isn't a serial device, just move on to the next stage
if ((conn = dynamic_cast<ArSerialConnection *>(myConn)) == NULL)
{
switchState(STATE_CONFIGURE);
return 0;
}
myPacket.empty();
myPacket.byteToBuf(0x20);
autoBaud = atoi(getAutoBaudChoice());
if (autoBaud == 9600)
myPacket.byteToBuf(0x42);
else if (autoBaud == 19200)
myPacket.byteToBuf(0x41);
else if (autoBaud == 38400)
myPacket.byteToBuf(0x40);
else
{
ArLog::log(ArLog::Terse, "%s: Do not know how to autobaud to %d",
getName(), autoBaud);
switchState(STATE_NONE);
failedConnect();
return 2;
}
myPacket.finalizePacket();
if (myConn->write(myPacket.getBuf(), myPacket.getLength()))
{
ArUtil::sleep(20);
conn->setBaud(autoBaud);
switchState(STATE_CONFIGURE);
return 0;
}
else
{
ArLog::log(ArLog::Terse,
"%s: Failed to connect to laser, could not send baud command.",
getName());
switchState(STATE_NONE);
failedConnect();
return 2;
}
break;
case STATE_CONFIGURE:
// wait a while for the baud to change
if (myStateStart.mSecSince() < 300)
return 0;
myPacket.empty();
myPacket.byteToBuf(0x3b);
myPacket.uByte2ToBuf(abs(ArMath::roundInt(myOffsetAmount * 2)));
myPacket.uByte2ToBuf(abs(ArMath::roundInt(myIncrementAmount * 100)));
myPacket.finalizePacket();
if (myConn->write(myPacket.getBuf(), myPacket.getLength()))
{
switchState(STATE_WAIT_FOR_CONFIGURE_ACK);
return 0;
}
else
{
ArLog::log(ArLog::Terse,
"%s: Failed to connect to laser, could not send configure command.",
getName());
switchState(STATE_NONE);
failedConnect();
return 2;
}
break;
case STATE_WAIT_FOR_CONFIGURE_ACK:
while ((packet = myLMS2xxPacketReceiver.receivePacket()) != NULL)
{
if (packet->getID() == 0xbb)
{
value = packet->bufToByte();
if (value == 0)
{
ArLog::log(ArLog::Terse,
"%s: Could not configure laser, failed connect.",
getName());
switchState(STATE_NONE);
failedConnect();
return 2;
}
else if (value == 1)
{
// here
//switchState(STATE_START_READINGS);
switchState(STATE_INSTALL_MODE);
return 0;
}
else
{
ArLog::log(ArLog::Terse,
"%s: Could not configure laser, failed connect.",
getName());
switchState(STATE_NONE);
failedConnect();
return 2;
}
}
else if (packet->getID() == 0xb0)
{
ArLog::log(ArLog::Terse,
"%s: extra data packet while waiting for configure ack",
getName());
myPacket.empty();
myPacket.uByteToBuf(0x20);
myPacket.uByteToBuf(0x25);
myPacket.finalizePacket();
if (myConn->write(myPacket.getBuf(), myPacket.getLength()))
{
switchState(STATE_CONFIGURE);
return 0;
}
}
else
ArLog::log(ArLog::Terse, "%s: Got a 0x%x", getName(), packet->getID(),
getName());
}
if (myStateStart.mSecSince() > 10000)
{
ArLog::log(ArLog::Terse,
"%s: Failed to connect to laser, no configure acknowledgement received.",
getName());
switchState(STATE_NONE);
failedConnect();
return 2;
}
break;
case STATE_INSTALL_MODE:
if (myStateStart.mSecSince() < 200)
return 0;
myPacket.empty();
myPacket.byteToBuf(0x20);
myPacket.byteToBuf(0x00);
myPacket.strNToBuf("SICK_LMS", (int)strlen("SICK_LMS"));
myPacket.finalizePacket();
if (myConn->write(myPacket.getBuf(), myPacket.getLength()))
{
switchState(STATE_WAIT_FOR_INSTALL_MODE_ACK);
return 0;
}
else
{
ArLog::log(ArLog::Terse,
"%s: Failed to connect to laser, could not send start command.",
getName());
switchState(STATE_NONE);
failedConnect();
return 2;
}
break;
case STATE_WAIT_FOR_INSTALL_MODE_ACK:
while ((packet = myLMS2xxPacketReceiver.receivePacket()) != NULL)
{
if (packet->getID() == 0xa0)
{
value = packet->bufToByte();
if (value == 0)
{
//printf("Um, should set mode?\n");
switchState(STATE_SET_MODE);
return 0;
}
else if (value == 1)
{
ArLog::log(ArLog::Terse,
"%s: Could not start laser, incorrect password.",
getName());
switchState(STATE_NONE);
failedConnect();
return 2;
}
else if (value == 2)
{
ArLog::log(ArLog::Terse,
"%s: Could not start laser, LMI fault.",
getName());
switchState(STATE_NONE);
failedConnect();
return 2;
}
else
{
ArLog::log(ArLog::Terse,
"%s: Could not start laser, unknown problem.",
getName());
switchState(STATE_NONE);
failedConnect();
return 2;
}
}
else if (packet->getID() == 0xb0)
{
ArLog::log(ArLog::Terse, "%s: extra data packet",
getName());
myPacket.empty();
myPacket.uByteToBuf(0x20);
myPacket.uByteToBuf(0x25);
myPacket.finalizePacket();
if (myConn->write(myPacket.getBuf(), myPacket.getLength()))
{
switchState(STATE_INSTALL_MODE);
return 0;
}
}
else
ArLog::log(ArLog::Terse, "%s: bad packet 0x%x", packet->getID(),
getName());
}
if (myStateStart.mSecSince() > 10000)
{
ArLog::log(ArLog::Terse,
"%s: Failed to connect to laser, no install mode ack received.", getName());
switchState(STATE_NONE);
return 2;
}
break;
case STATE_SET_MODE:
if (myStateStart.mSecSince() < 200)
return 0;
myPacket.empty();
// type of packet
myPacket.byteToBuf(0x77);
// blanking
myPacket.uByte2ToBuf(0);
// peak threshhold, stop threshold
myPacket.uByte2ToBuf(70);
// the old peak threshhold thats probably broken
// myPacket.uByte2ToBuf(0);
// fog correction
myPacket.uByteToBuf(0);
// measurement Mode (fun one) (we can switch this now)
// next line was the previous permanent one
// myPacket.uByteToBuf(6);
// max range stuff was pulled cause its in checkParams now
//int maxRange;
//maxRange = 8;
if (myNumReflectorBits == 1)
{
myPacket.uByteToBuf(5);
//maxRange *= 4;
}
else if (myNumReflectorBits == 2)
{
myPacket.uByteToBuf(3);
//maxRange *= 2;
}
else if (myNumReflectorBits == 3)
{
myPacket.uByteToBuf(1);
//maxRange *= 1;
}
else
{
ArLog::log(ArLog::Terse, "%s: Bits set to unknown value",
getName());
myPacket.uByteToBuf(5);
//maxRange *= 4;
}
// unit value (fun one), we can swithc this now
// next line was the previous permanent one
//myPacket.uByteToBuf(1);
if (strcmp(getUnitsChoice(), "1mm") == 0)
{
//maxRange *= 1000;
myPacket.uByteToBuf(1);
}
else if (strcmp(getUnitsChoice(), "10cm") == 0)
{
//maxRange = 150000;
myPacket.uByteToBuf(2);
}
else if (strcmp(getUnitsChoice(), "1cm") == 0)
{
//maxRange *= 10000;
myPacket.uByteToBuf(0);
}
else
{
ArLog::log(ArLog::Terse, "%s: Units set to unknown value", getName());
//maxRange *= 1000;
myPacket.uByteToBuf(1);
}
//setMaxRange(maxRange);
// temporary field set
myPacket.uByteToBuf(0);
// fields A & B as subtractive
myPacket.uByteToBuf(0);
// multiple evaluation
myPacket.uByteToBuf(2);
// restart
myPacket.uByteToBuf(2);
// restart time
myPacket.uByteToBuf(0);
// contour A as reference object size
myPacket.uByteToBuf(0);
// contour A positive range of tolerance
myPacket.uByteToBuf(0);
// contour A negative range of tolerance
myPacket.uByteToBuf(0);
// contour A starting angle
myPacket.uByteToBuf(0);
// contour A stopping angle
myPacket.uByteToBuf(0);
// contour B as reference object size
myPacket.uByteToBuf(0);
// contour B positive range of tolerance
myPacket.uByteToBuf(0);
// contour B negative range of tolerance
myPacket.uByteToBuf(0);
// contour B starting angle
myPacket.uByteToBuf(0);
// contour B stopping angle
myPacket.uByteToBuf(0);
// contour C as reference object size
myPacket.uByteToBuf(0);
// contour C positive range of tolerance
myPacket.uByteToBuf(0);
// contour C negative range of tolerance
myPacket.uByteToBuf(0);
// contour C starting angle
myPacket.uByteToBuf(0);
// contour C stopping angle
myPacket.uByteToBuf(0);
// pixel oriented evaluation
myPacket.uByteToBuf(0);
// mode for single meas value eval
myPacket.uByteToBuf(0);
// restart times for field b and field c
myPacket.byte2ToBuf(0);
// um, an extra one (sick quickstart manual says its 21 not 20 long)
myPacket.uByteToBuf(0);
myPacket.finalizePacket();
//myPacket.log();
//printf("Sending mode!\n");
if (myConn->write(myPacket.getBuf(), myPacket.getLength()))
{
//printf("Set mode!\n");
switchState(STATE_WAIT_FOR_SET_MODE_ACK);
return 0;
}
else
{
ArLog::log(ArLog::Terse,
"%s: Failed to connect to laser, could not send set mode command.",
getName());
switchState(STATE_NONE);
failedConnect();
return 2;
}
break;
case STATE_WAIT_FOR_SET_MODE_ACK:
while ((packet = myLMS2xxPacketReceiver.receivePacket()) != NULL)
{
if (packet->getID() == 0xF7)
{
//value = packet->bufToByte();
//printf("YAY %d\n", value);
//packet->log();
switchState(STATE_START_READINGS);
return 0;
}
else if (packet->getID() == 0xb0)
{
ArLog::log(ArLog::Terse, "%s: extra data packet",
getName());
myPacket.empty();
myPacket.uByteToBuf(0x20);
myPacket.uByteToBuf(0x25);
myPacket.finalizePacket();
if (myConn->write(myPacket.getBuf(), myPacket.getLength()))
{
switchState(STATE_INSTALL_MODE);
return 0;
}
}
else if (packet->getID() == 0x92)
{
switchState(STATE_INSTALL_MODE);
return 0;
}
else
ArLog::log(ArLog::Terse, "%s: Got a 0x%x", getName(), packet->getID());
}
if (myStateStart.mSecSince() > 14000)
{
ArLog::log(ArLog::Terse,
"%s: Failed to connect to laser, no set mode acknowledgement received.",
getName());
switchState(STATE_NONE);
failedConnect();
return 2;
}
break;
case STATE_START_READINGS:
if (myStateStart.mSecSince() < 200)
return 0;
myPacket.empty();
myPacket.byteToBuf(0x20);
myPacket.byteToBuf(0x24);
myPacket.finalizePacket();
if (myConn->write(myPacket.getBuf(), myPacket.getLength()))
{
switchState(STATE_WAIT_FOR_START_ACK);
return 0;
}
else
{
ArLog::log(ArLog::Terse,
"%s: Failed to connect to laser, could not send start command.",
getName());
switchState(STATE_NONE);
failedConnect();
return 2;
}
break;
case STATE_WAIT_FOR_START_ACK:
while ((packet = myLMS2xxPacketReceiver.receivePacket()) != NULL)
{
if (packet->getID() == 0xa0)
{
value = packet->bufToByte();
if (value == 0)
{
ArLog::log(ArLog::Terse, "%s: Connected to the laser.",
getName());
switchState(STATE_CONNECTED);
madeConnection();
return 1;
}
else if (value == 1)
{
ArLog::log(ArLog::Terse,
"%s: Could not start laser laser, incorrect password.",
getName());
switchState(STATE_NONE);
failedConnect();
return 2;
}
else if (value == 2)
{
ArLog::log(ArLog::Terse,
"%s: Could not start laser laser, LMI fault.",
getName());
switchState(STATE_NONE);
failedConnect();
return 2;
}
else
{
ArLog::log(ArLog::Terse,
"%s: Could not start laser laser, unknown problem.",
getName());
switchState(STATE_NONE);
failedConnect();
return 2;
}
}
}
if (myStateStart.mSecSince() > 1000)
{
ArLog::log(ArLog::Terse,
"%s: Failed to connect to laser, no start acknowledgement received.",
getName());
switchState(STATE_NONE);
failedConnect();
return 2;
}
break;
default:
ArLog::log(ArLog::Verbose, "%s: In bad connection state",
getName());
break;
}
return 0;
}
/**
Sends the commands to the sim to start up the connection
@return true if the commands were sent, false otherwise
**/
AREXPORT bool ArLMS2xx::internalConnectSim(void)
{
lockDevice();
double offset = myOffsetAmount;
double increment = myIncrementAmount;
unlockDevice();
myRobot->lock();
// return true if we could send all the commands
if (myRobot->comInt(36, -ArMath::roundInt(offset)) && // Start angle
myRobot->comInt(37, ArMath::roundInt(offset)) && // End angle
myRobot->comInt(38, ArMath::roundInt(increment * 100.0)) && // increment
myRobot->comInt(35, 2)) // Enable sending data, with extended info
///@todo only choose extended info if reflector bits desired, also shorten range.
{
myRobot->unlock();
switchState(STATE_CONNECTED);
madeConnection();
ArLog::log(ArLog::Terse, "%s: Connected to simulated laser.",
getName());
return true;
}
else
{
switchState(STATE_NONE);
failedConnect();
ArLog::log(ArLog::Terse,
"%s: Failed to connect to simulated laser.",
getName());
return false;
}
}
/** @internal */
AREXPORT void ArLMS2xx::dropConnection(void)
{
std::list<ArFunctor *>::iterator it;
if (myState != STATE_CONNECTED)
return;
myCurrentBuffer.reset();
myCumulativeBuffer.reset();
ArLog::log(ArLog::Terse,
"%s: Lost connection to the laser because of error. Nothing received for %g seconds (greater than the timeout of %g).", getName(),
myLastReading.mSecSince()/1000.0,
getConnectionTimeoutSeconds());
switchState(STATE_NONE);
if (myConn != NULL)
myConn->close();
laserDisconnectOnError();
}
/** @internal */
AREXPORT void ArLMS2xx::failedConnect(void)
{
std::list<ArFunctor *>::iterator it;