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ArLaserConnector.cpp
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ArLaserConnector.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 "ArLaserConnector.h"
#include "ArRobot.h"
#include "ArLaser.h"
#include "ariaInternal.h"
#include "ArUrg.h"
#include "ArSimulatedLaser.h"
#include "ArCommands.h"
#include "ArRobotConfigPacketReader.h"
/** @warning do not delete @a parser during the lifetime of this
ArLaserConnector, which may need to access its contents later.
@param parser the parser with the arguments to parse
@param robot the robot these lasers are attached to (or NULL for none)
@param robotConnector the connector used for connecting to the robot
(so we can see if it was a sim or not)
@param autoParseArgs if this class should autoparse the args if they
aren't parsed explicitly
@param infoLogLevel The log level for information about creating
lasers and such, this is also passed to all the lasers created as
their infoLogLevel too
@param turnOnPowerOutputCB If not NULL, may be invoked to turn on laser power
if neccesary.
@param turnOffPowerOutputCB If not NULL, may be invoked to turn off laser power
if neccesary.
*/
AREXPORT ArLaserConnector::ArLaserConnector(
ArArgumentParser *parser, ArRobot *robot,
ArRobotConnector *robotConnector, bool autoParseArgs,
ArLog::LogLevel infoLogLevel,
ArRetFunctor1<bool, const char *> *turnOnPowerOutputCB,
ArRetFunctor1<bool, const char *> *turnOffPowerOutputCB) :
myParseArgsCB(this, &ArLaserConnector::parseArgs),
myLogOptionsCB(this, &ArLaserConnector::logOptions)
{
myParser = parser;
myOwnParser = false;
myRobot = robot;
myRobotConnector = robotConnector;
myAutoParseArgs = autoParseArgs;
myParsedArgs = false;
myInfoLogLevel = infoLogLevel;
myTurnOnPowerOutputCB = turnOnPowerOutputCB;
myTurnOffPowerOutputCB = turnOffPowerOutputCB;
myParseArgsCB.setName("ArLaserConnector");
Aria::addParseArgsCB(&myParseArgsCB, 60);
myLogOptionsCB.setName("ArLaserConnector");
Aria::addLogOptionsCB(&myLogOptionsCB, 80);
}
AREXPORT ArLaserConnector::~ArLaserConnector(void)
{
}
/**
* Parse command line arguments using the ArArgumentParser given in the ArLaserConnector constructor.
*
* See parseArgs(ArArgumentParser*) for details about argument parsing.
*
@return true if the arguments were parsed successfully false if not
**/
AREXPORT bool ArLaserConnector::parseArgs(void)
{
return parseArgs(myParser);
}
/**
* This function parses command line arguments held by the given ArArgumentParser.
* Normally, it is automatically called by ArArgumentParser::parseArgs().
*
@return true if the arguments were parsed successfully false if not
The following arguments are accepted for laser connections. A program may
request support for up to a specific number of lasers
using setMaxNumLasers(); if multi-laser support is enabled in this way, then these arguments must have the laser index
number appended. For example, "-laserPort" for laser 1 would instead by "-laserPort1", and for laser 2 it would be
"-laserPort2".
<dl>
<dt>-laserPort <i>port</i></dt>
<dt>-lp <i>port</i></dt>
<dd>Use the given serial port device name when connecting to a laser. For example, <code>COM2</code> or on Linux, <code>/dev/ttyS1</code>.
The default laser port is COM2, which is the typical Pioneer laser port.
</dd>
<dt>-laserFlipped <i>true|false</i></dt>
<dt>-lf <i>true|false</i></dt>
<dd>If <code>true</code>, then the laser is mounted upside-down on the robot and the ordering of readings
should be reversed.</dd>
<dt>-connectLaser</dt>
<dt>-cl</dt>
<dd>Explicitly request that the client program connect to a laser, if it does not always do so</dd>
<dt>-laserPowerControlled <i>true|false</i></dt>
<dt>-lpc <i>true|false</i></dt>
<dd>If <code>true</code>, then the laser is powered on when the serial port is initially opened, so enable
certain features when connecting such as a waiting period as the laser initializes.</dd>
<dt>-laserDegrees <i>degrees</i></dt>
<dt>-ld <i>degrees</i></dt>
<dd>Indicate the size of the laser field of view, either <code>180</code> (default) or <code>100</code>.</dd>
<dt>-laserIncrement <i>increment</i></dt>
<dt>-li <i>increment</i></dt>
<dd>Configures the laser's angular resolution. If <code>one</code>, then configure the laser to take a reading every degree.
If <code>half</code>, then configure it for a reading every 1/2 degrees.</dd>
<dt>-laserUnits <i>units</i></dt>
<dt>-lu <i>units</i></dt>
<dd>Configures the laser's range resolution. May be 1mm for one milimiter, 1cm for ten milimeters, or 10cm for one hundred milimeters.</dd>
<dt>-laserReflectorBits <i>bits</i></dt>
<dt>-lrb <i>bits</i></dt>
<dd>Enables special reflectance detection, and configures the granularity of reflector detection information. Using more bits allows the laser to provide values for several different
reflectance levels, but also may force a reduction in range. (Note, the SICK LMS-200 only detects high reflectance on special reflector material
manufactured by SICK.)
</dd>
</dl>
**/
AREXPORT bool ArLaserConnector::parseArgs (ArArgumentParser *parser)
{
if (myParsedArgs)
return true;
myParsedArgs = true;
bool typeReallySet;
const char *type;
char buf[1024];
int i;
std::map<int, LaserData *>::iterator it;
LaserData *laserData;
bool wasReallySetOnlyTrue = parser->getWasReallySetOnlyTrue();
parser->setWasReallySetOnlyTrue (true);
for (i = 1; i <= Aria::getMaxNumLasers(); i++) {
if (i == 1)
buf[0] = '\0';
else
sprintf (buf, "%d", i);
typeReallySet = false;
// see if the laser is being added from the command line
if (!parser->checkParameterArgumentStringVar (&typeReallySet, &type,
"-laserType%s", buf) ||
!parser->checkParameterArgumentStringVar (&typeReallySet, &type,
"-lt%s", buf)) {
ArLog::log (ArLog::Normal,
"ArLaserConnector: Bad laser type given for laser number %d",
i);
parser->setWasReallySetOnlyTrue (wasReallySetOnlyTrue);
return false;
}
// if we didn't have an argument then just return
if (!typeReallySet)
continue;
if ( (it = myLasers.find (i)) != myLasers.end()) {
ArLog::log (ArLog::Normal, "ArLaserConnector: A laser already exists for laser number %d, replacing it with a new one of type %s",
i, type);
laserData = (*it).second;
delete laserData;
myLasers.erase (i);
}
if (typeReallySet && type != NULL) {
ArLaser *laser = NULL;
if ( (laser = Aria::laserCreate (type, i, "ArLaserConnector: ")) != NULL) {
ArLog::log (myInfoLogLevel,
"ArLaserConnector: Created %s as laser %d from arguments",
laser->getName(), i);
myLasers[i] = new LaserData (i, laser);
laser->setInfoLogLevel (myInfoLogLevel);
} else {
ArLog::log (ArLog::Normal,
"Unknown laser type %s for laser %d, choices are %s",
type, i, Aria::laserGetTypes());
parser->setWasReallySetOnlyTrue (wasReallySetOnlyTrue);
return false;
}
}
}
// go through the robot param list and add the lasers defined
// in the parameter file.
const ArRobotParams *params = NULL;
if (myRobot != NULL) {
params = myRobot->getRobotParams();
if (params != NULL) {
for (i = 1; i <= Aria::getMaxNumLasers(); i++) {
// if we already have a laser for this then don't add one from
// the param file, since it was added either explicitly by a
// program or from the command line
if (myLasers.find (i) != myLasers.end())
{
ArLog::log(myInfoLogLevel, "ArLaserConnector: Already a laser %d", i);
continue;
}
type = params->getLaserType (i);
// if we don't have a laser type for that number continue
if (type == NULL || type[0] == '\0')
{
if (params->getConnectLaser(i))
{
myLasers[i] = new LaserData(i, NULL);
myLasers[i]->myConnect = true;
myLasers[i]->myConnectReallySet = true;
ArLog::log(myInfoLogLevel,
"ArLaserConnector: Will connect a NULL laser %d, since the parameter file wants to connect and it'll be clearer to fail in connectLasers",
i);
}
continue;
}
ArLaser *laser = NULL;
if ( (laser =
Aria::laserCreate (type, i, "ArLaserConnector: ")) != NULL) {
ArLog::log (myInfoLogLevel,
"ArLaserConnector: Created %s as laser %d from parameter file",
laser->getName(), i);
myLasers[i] = new LaserData (i, laser);
laser->setInfoLogLevel (myInfoLogLevel);
} else {
ArLog::log (ArLog::Normal,
"Unknown laser type %s for laser %d from the .p file, choices are %s",
type, i, Aria::laserGetTypes());
parser->setWasReallySetOnlyTrue (wasReallySetOnlyTrue);
return false;
}
if (params->getConnectLaser(i))
{
myLasers[i]->myConnect = true;
myLasers[i]->myConnectReallySet = true;
ArLog::log(myInfoLogLevel,
"ArLaserConnector: Will connect %s as laser %d from parameter file",
laser->getName(), i);
}
}
} else {
ArLog::log (ArLog::Normal, "ArLaserConnector: Have robot, but robot has NULL params, so cannot configure its laser %s", i);
parser->setWasReallySetOnlyTrue (wasReallySetOnlyTrue);
return false;
}
}
// now go through and parse the args for any laser that we have
for (it = myLasers.begin(); it != myLasers.end(); it++) {
laserData = (*it).second;
if (!parseLaserArgs (parser, laserData)) {
parser->setWasReallySetOnlyTrue (wasReallySetOnlyTrue);
return false;
}
}
parser->setWasReallySetOnlyTrue (wasReallySetOnlyTrue);
return true;
}
AREXPORT bool ArLaserConnector::parseLaserArgs(ArArgumentParser *parser,
LaserData *laserData)
{
char buf[512];
if (laserData == NULL)
{
ArLog::log(ArLog::Terse, "Was given NULL laser");
return false;
}
if (laserData->myLaser == NULL)
{
ArLog::log(ArLog::Normal,
"ArLaserConnector: There is no laser for laser number %d but there should be... this should fail in the connect, so just returning here",
laserData->myNumber);
//return false;
return true;
}
ArLaser *laser = laserData->myLaser;
if (laserData->myNumber == 1)
buf[0] = '\0';
else
sprintf(buf, "%d", laserData->myNumber);
// see if we want to connect to the laser automatically
if (parser->checkArgumentVar("-connectLaser%s", buf) ||
parser->checkArgumentVar("-cl%s", buf))
{
laserData->myConnect = true;
laserData->myConnectReallySet = true;
}
// see if we do not want to connect to the laser automatically
if (parser->checkArgumentVar("-doNotConnectLaser%s", buf) ||
parser->checkArgumentVar("-dncl%s", buf))
{
laserData->myConnect = false;
laserData->myConnectReallySet = true;
}
if (!parser->checkParameterArgumentStringVar(NULL, &laserData->myPort,
"-laserPort%s", buf) ||
!parser->checkParameterArgumentStringVar(NULL, &laserData->myPort,
"-lp%s", buf) ||
!parser->checkParameterArgumentStringVar(NULL, &laserData->myPortType,
"-laserPortType%s", buf) ||
!parser->checkParameterArgumentStringVar(NULL, &laserData->myPortType,
"-lpt%s", buf) ||
!parser->checkParameterArgumentIntegerVar(
&laserData->myRemoteTcpPortReallySet,
&laserData->myRemoteTcpPort,
"-remoteLaserTcpPort%s", buf) ||
!parser->checkParameterArgumentIntegerVar(
&laserData->myRemoteTcpPortReallySet,
&laserData->myRemoteTcpPort,
"-rltp%s", buf) ||
!parser->checkParameterArgumentBoolVar(&laserData->myFlippedReallySet,
&laserData->myFlipped,
"-laserFlipped%s", buf) ||
!parser->checkParameterArgumentBoolVar(&laserData->myFlippedReallySet,
&laserData->myFlipped,
"-lf%s", buf) ||
(!parser->checkParameterArgumentIntegerVar(
&laserData->myMaxRangeReallySet, &laserData->myMaxRange,
"-laserMaxRange%s", buf)) ||
(!parser->checkParameterArgumentIntegerVar(
&laserData->myMaxRangeReallySet, &laserData->myMaxRange,
"-lmr%s", buf)) ||
(laser->canSetDegrees() &&
!parser->checkParameterArgumentDoubleVar(
&laserData->myDegreesStartReallySet, &laserData->myDegreesStart,
"-laserDegreesStart%s", buf)) ||
(laser->canSetDegrees() &&
!parser->checkParameterArgumentDoubleVar(
&laserData->myDegreesStartReallySet, &laserData->myDegreesStart,
"-lds%s", buf)) ||
(laser->canSetDegrees() &&
!parser->checkParameterArgumentDoubleVar(
&laserData->myDegreesEndReallySet, &laserData->myDegreesEnd,
"-laserDegreesEnd%s", buf)) ||
(laser->canSetDegrees() &&
!parser->checkParameterArgumentDoubleVar(
&laserData->myDegreesEndReallySet, &laserData->myDegreesEnd,
"-lde%s", buf)) ||
(laser->canChooseDegrees() &&
!parser->checkParameterArgumentStringVar(NULL, &laserData->myDegrees,
"-laserDegrees%s", buf)) ||
(laser->canChooseDegrees() &&
!parser->checkParameterArgumentStringVar(NULL, &laserData->myDegrees,
"-ld%s", buf)) ||
(laser->canSetIncrement() &&
!parser->checkParameterArgumentDoubleVar(
&laserData->myIncrementByDegreesReallySet,
&laserData->myIncrementByDegrees,
"-laserIncrementByDegrees%s", buf)) ||
(laser->canSetIncrement() &&
!parser->checkParameterArgumentDoubleVar(
&laserData->myIncrementByDegreesReallySet,
&laserData->myIncrementByDegrees,
"-libd%s", buf)) ||
(laser->canChooseIncrement() &&
!parser->checkParameterArgumentStringVar(NULL, &laserData->myIncrement,
"-laserIncrement%s", buf)) ||
(laser->canChooseIncrement() &&
!parser->checkParameterArgumentStringVar(NULL, &laserData->myIncrement,
"-li%s", buf)) ||
(laser->canChooseUnits() &&
!parser->checkParameterArgumentStringVar(NULL, &laserData->myUnits,
"-laserUnits%s", buf)) ||
(laser->canChooseUnits() &&
!parser->checkParameterArgumentStringVar(NULL, &laserData->myUnits,
"-lu%s", buf)) ||
(laser->canChooseReflectorBits() &&
!parser->checkParameterArgumentStringVar(
NULL, &laserData->myReflectorBits,
"-laserReflectorBits%s", buf)) ||
(laser->canChooseReflectorBits() &&
!parser->checkParameterArgumentStringVar(
NULL, &laserData->myReflectorBits,
"-lrb%s", buf)) ||
(laser->canSetPowerControlled() &&
!parser->checkParameterArgumentBoolVar(
&laserData->myPowerControlledReallySet,
&laserData->myPowerControlled,
"-laserPowerControlled%s", buf)) ||
(laser->canSetPowerControlled() &&
!parser->checkParameterArgumentBoolVar(
&laserData->myPowerControlledReallySet,
&laserData->myPowerControlled,
"-lpc%s", buf)) ||
(laser->canChooseStartingBaud() &&
!parser->checkParameterArgumentStringVar(
NULL, &laserData->myStartingBaud,
"-laserStartingBaud%s", buf)) ||
(laser->canChooseStartingBaud() &&
!parser->checkParameterArgumentStringVar(
NULL, &laserData->myStartingBaud,
"-lsb%s", buf)) ||
(laser->canChooseAutoBaud() &&
!parser->checkParameterArgumentStringVar(
NULL, &laserData->myAutoBaud,
"-laserAutoBaud%s", buf)) ||
(laser->canChooseAutoBaud() &&
!parser->checkParameterArgumentStringVar(
NULL, &laserData->myAutoBaud,
"-lab%s", buf)) ||
!parser->checkParameterArgumentStringVar(
NULL, &laserData->myAdditionalIgnoreReadings,
"-laserAdditionalIgnoreReadings%s", buf) ||
!parser->checkParameterArgumentStringVar(
NULL, &laserData->myAdditionalIgnoreReadings,
"-lair%s", buf)
)
{
return false;
}
return internalConfigureLaser(laserData);
}
bool ArLaserConnector::internalConfigureLaser(
LaserData *laserData)
{
ArLaser *laser = laserData->myLaser;
if (laser == NULL)
{
ArLog::log(ArLog::Terse, "ArLaserConnector: No laser for number %d",
laserData->myNumber);
return false;
}
if (laserData->myMaxRangeReallySet)
laser->setMaxRange(laserData->myMaxRange);
if (laserData->myFlippedReallySet &&
!laser->setFlipped(laserData->myFlipped))
return false;
if (laser->canSetDegrees() &&
laserData->myDegreesStartReallySet &&
!laser->setStartDegrees(laserData->myDegreesStart))
return false;
if (laser->canSetDegrees() &&
laserData->myDegreesEndReallySet &&
!laser->setEndDegrees(laserData->myDegreesEnd))
return false;
if (laser->canChooseDegrees() && laserData->myDegrees != NULL &&
!laser->chooseDegrees(laserData->myDegrees))
return false;
if (laser->canSetIncrement() &&
laserData->myIncrementByDegreesReallySet &&
!laser->setIncrement(laserData->myIncrementByDegrees))
return false;
if (laser->canChooseIncrement() && laserData->myIncrement != NULL &&
!laser->chooseIncrement(laserData->myIncrement))
return false;
if (laser->canChooseUnits() && laserData->myUnits != NULL &&
!laser->chooseUnits(laserData->myUnits))
return false;
if (laser->canChooseReflectorBits() && laserData->myReflectorBits != NULL &&
!laser->chooseReflectorBits(laserData->myReflectorBits))
return false;
if (laser->canSetPowerControlled() &&
laserData->myPowerControlledReallySet &&
!laser->setPowerControlled(laserData->myPowerControlled))
return false;
if (laser->canChooseStartingBaud() && laserData->myStartingBaud != NULL &&
!laser->chooseStartingBaud(laserData->myStartingBaud))
return false;
if (laser->canChooseAutoBaud() && laserData->myAutoBaud != NULL &&
!laser->chooseAutoBaud(laserData->myAutoBaud))
return false;
if (laserData->myAdditionalIgnoreReadings != NULL &&
!laser->addIgnoreReadings(laserData->myAdditionalIgnoreReadings))
return false;
// if this is a placeholder, don't do the device connection stuff since we need to set it on the real laser
if (laserData->myLaserIsPlaceholder)
{
return true;
}
// the rest handles all the connection stuff
const ArRobotParams *params;
char portBuf[1024];
if (laserData->myLaser == NULL)
{
ArLog::log(ArLog::Terse, "ArLaserConnector: There is no laser, cannot connect");
return false;
}
sprintf(portBuf, "%d", laserData->myLaser->getDefaultTcpPort());
if (myRobotConnector == NULL)
{
ArLog::log(ArLog::Terse, "ArLaserConnector: No ArRobotConnector is passed in so simulators and remote hosts will not work correctly");
}
/*
if a laser isn't a placeholder and we should be using the sim, then use it
*/
if (!laserData->myLaserIsPlaceholder &&
myRobotConnector != NULL && myRobotConnector->getRemoteIsSim())
{
if (laserData->myNumber != 1)
{
ArLog::log(ArLog::Normal, "Cannot use the simulator with multiple lasers yet, will continue but will be unable to connect laser %s (num %d)", laserData->myLaser->getName(), laserData->myNumber);
return true;
}
//ArSick *sick = NULL;
//if ((sick = dynamic_cast<ArSick *>(laser)) != NULL)
//{
// ArLog::log(ArLog::Normal, "Using old style sim laser for %s",
// laser->getName());
// sick->setIsUsingSim(true);
//}
//else
//{
// ArLog::log(ArLog::Normal, "Using new style simulated laser for %s",
// laser->getName());
laserData->myLaser = new ArSimulatedLaser(laser);
laser = laserData->myLaser;
//}
// return here, since the rest is just dealing with how to connect
// to the laser, but if its a simulated laser then we don't even
// do that
return true;
}
if ((laserData->myPort == NULL || strlen(laserData->myPort) == 0) &&
(laserData->myPortType != NULL && strlen(laserData->myPortType) > 0))
{
ArLog::log(ArLog::Normal, "There is a laser port type given ('%s') for laser %d (%s), but no laser port given, cannot configure laser",
laserData->myPortType, laserData->myNumber, laser->getName());
return false;
}
if ((laserData->myPort != NULL && strlen(laserData->myPort) > 0) &&
(laserData->myPortType != NULL && strlen(laserData->myPortType) > 0))
{
ArLog::log(ArLog::Normal, "ArLaserConnector: Connection type and port command arguments given for laser %d (%s), so overriding everything and using that information",
laserData->myNumber, laser->getName());
if ((laserData->myConn = Aria::deviceConnectionCreate(
laserData->myPortType, laserData->myPort, portBuf,
"ArLaserConnector:")) == NULL)
{
return false;
}
laser->setDeviceConnection(laserData->myConn);
return true;
}
#if 0
/*
This code is taken out since it'll break everything with a lms1xx using a remote port
*/
if (myRobotConnector != NULL && !myRobotConnector->getRemoteIsSim() &&
myRobotConnector->getRemoteHost() != NULL &&
strlen(myRobotConnector->getRemoteHost()) > 0)
{
ArLog::log(ArLog::Normal, "ArLaserConnector: Remote host is used for robot, so remote host is also being used for laser %d (%s)",
laserData->myNumber, laser->getName());
// if a port was given for the laser, then use that one...
ArTcpConnection *tcpConn = new ArTcpConnection;
laserData->myConn = tcpConn;
if (laserData->myRemoteTcpPortReallySet)
tcpConn->setPort(myRobotConnector->getRemoteHost(),
laserData->myRemoteTcpPort);
// otherwise use the default for that laser type
else
tcpConn->setPort(myRobotConnector->getRemoteHost(),
laser->getDefaultTcpPort());
/*
This code is commented out because it created problems with demo
(or any other program that used ArLaserConnector::connectLasers
with addAllLasersToRobot as true)
// now try and open the port, since if it doesn't open nothing will work
if (!tcpConn->openSimple())
{
if (laserData->myRemoteTcpPortReallySet)
ArLog::log(ArLog::Terse,
"Could not connect laser to remote host %s with given remote port %d.",
myRobotConnector->getRemoteHost(),
laserData->myRemoteTcpPort);
else
/// TODO is this next line wrong?
ArLog::log(ArLog::Terse,
"Could not connect laser to remote host %s with default remote port %d.",
myRobotConnector->getRemoteHost(),
laserData->myRemoteTcpPort);
delete tcpConn;
return false;
}
*/
// set the laser to use that
laserData->myConn = tcpConn;
laser->setDeviceConnection(laserData->myConn);
return true;
}
#endif
if ((laserData->myPort != NULL && strlen(laserData->myPort) > 0) &&
(laserData->myPortType == NULL || strlen(laserData->myPortType) == 0))
{
if (myRobot != NULL && (params = myRobot->getRobotParams()) != NULL)
{
if (params->getLaserPortType(laserData->myNumber) != NULL &&
params->getLaserPortType(laserData->myNumber)[0] != '\0')
{
ArLog::log(ArLog::Normal, "ArLaserConnector: There is a port given, but no port type given so using the robot parameters port type");
if ((laserData->myConn = Aria::deviceConnectionCreate(
params->getLaserPortType(laserData->myNumber),
laserData->myPort, portBuf,
"ArLaserConnector: ")) == NULL)
{
return false;
}
}
else if (laser->getDefaultPortType() != NULL &&
laser->getDefaultPortType()[0] != '\0')
{
ArLog::log(ArLog::Normal, "ArLaserConnector: There is a port given for laser %d (%s), but no port type given and no robot parameters port type so using the laser's default port type", laserData->myNumber, laser->getName());
if ((laserData->myConn = Aria::deviceConnectionCreate(
laser->getDefaultPortType(),
laserData->myPort, portBuf,
"ArLaserConnector: ")) == NULL)
{
return false;
}
}
else
{
ArLog::log(ArLog::Normal, "ArLaserConnector: There is a port given for laser %d (%s), but no port type given, no robot parameters port type, and no laser default port type, so using serial",
laserData->myNumber, laser->getName());
if ((laserData->myConn = Aria::deviceConnectionCreate(
"serial",
laserData->myPort, portBuf,
"ArLaserConnector: ")) == NULL)
{
return false;
}
}
laser->setDeviceConnection(laserData->myConn);
return true;
}
else
{
ArLog::log(ArLog::Normal, "There is a laser port given ('%s') for laser %d (%s), but no laser port type given and there are no robot params to find the information in, so assuming serial",
laserData->myPort, laserData->myNumber, laser->getName());
if ((laserData->myConn = Aria::deviceConnectionCreate(
"serial", laserData->myPort, portBuf,
"ArLaserConnector: ")) == NULL)
{
return false;
}
laser->setDeviceConnection(laserData->myConn);
return true;
}
}
// if we get down here there was no information provided by the command line or in a laser connector, so see if we have params... if not then fail, if so then use those
if (myRobot == NULL || (params = myRobot->getRobotParams()) == NULL)
{
ArLog::log(ArLog::Normal, "ArLaserConnector: No robot params are available, and no command line information given on how to connect to the laser %d (%s), so cannot connect", laserData->myNumber, laser->getName());
return false;
}
ArLog::log(ArLog::Normal, "ArLaserConnector: Using robot params for connecting to laser %d (%s)", laserData->myNumber, laser->getName());
if ((laserData->myConn = Aria::deviceConnectionCreate(
params->getLaserPortType(laserData->myNumber),
params->getLaserPort(laserData->myNumber), portBuf,
"ArLaserConnector: ")) == NULL)
{
return false;
}
laser->setDeviceConnection(laserData->myConn);
return true;
}
AREXPORT void ArLaserConnector::logOptions(void) const
{
ArLog::log(ArLog::Terse, "Options for ArLaserConnector:");
ArLog::log(ArLog::Terse, "\nOptions shown are for currently set up lasers. Activate lasers with -laserType<N> option");
ArLog::log(ArLog::Terse, "to see options for that laser (e.g. \"-help -laserType1 lms2xx\").");
ArLog::log(ArLog::Terse, "Valid laser types are: %s", Aria::laserGetTypes());
ArLog::log(ArLog::Terse, "\nSee docs for details.");
std::map<int, LaserData *>::const_iterator it;
LaserData *laserData;
for (it = myLasers.begin(); it != myLasers.end(); it++)
{
laserData = (*it).second;
logLaserOptions(laserData);
}
}
AREXPORT void ArLaserConnector::logLaserOptions(
LaserData *laserData, bool header, bool metaOpts) const
{
char buf[512];
if (laserData == NULL)
{
ArLog::log(ArLog::Normal,
"Tried to log laser options with NULL laser data");
return;
}
if (laserData->myLaser == NULL)
{
ArLog::log(ArLog::Normal,
"ArLaserConnector: There is no laser for laser number %d but there should be",
laserData->myNumber);
return;
}
ArLaser *laser = laserData->myLaser;
if (laserData->myNumber == 1)
buf[0] = '\0';
else
sprintf(buf, "%d", laserData->myNumber);
if(header)
{
ArLog::log(ArLog::Terse, "");
ArLog::log(ArLog::Terse, "Laser%s: (\"%s\")", buf, laser->getName());
}
if (metaOpts)
{
ArLog::log(ArLog::Terse, "-laserType%s <%s>", buf, Aria::laserGetTypes());
ArLog::log(ArLog::Terse, "-lt%s <%s>", buf, Aria::laserGetTypes());
ArLog::log(ArLog::Terse, "-connectLaser%s", buf);
ArLog::log(ArLog::Terse, "-cl%s", buf);
}
ArLog::log(ArLog::Terse, "-laserPort%s <laserPort>", buf);
ArLog::log(ArLog::Terse, "-lp%s <laserPort>", buf);
ArLog::log(ArLog::Terse, "-laserPortType%s <%s>", buf, Aria::deviceConnectionGetTypes());
ArLog::log(ArLog::Terse, "-lpt%s <%s>", buf, Aria::deviceConnectionGetTypes());
ArLog::log(ArLog::Terse, "-remoteLaserTcpPort%s <remoteLaserTcpPort>", buf);
ArLog::log(ArLog::Terse, "-rltp%s <remoteLaserTcpPort>", buf);
ArLog::log(ArLog::Terse, "-laserFlipped%s <true|false>", buf);
ArLog::log(ArLog::Terse, "-lf%s <true|false>", buf);
ArLog::log(ArLog::Terse, "-laserMaxRange%s <maxRange>", buf);
ArLog::log(ArLog::Terse, "-lmr%s <maxRange>", buf);
ArLog::log(ArLog::Terse, "\t<maxRange> is an unsigned int less than %d",
laser->getAbsoluteMaxRange());
if (laser->canSetDegrees())
{
ArLog::log(ArLog::Terse, "-laserDegreesStart%s <startAngle>", buf);
ArLog::log(ArLog::Terse, "-lds%s <startAngle>", buf);
ArLog::log(ArLog::Terse, "\t<startAngle> is a double between %g and %g",
laser->getStartDegreesMin(), laser->getStartDegreesMax());
ArLog::log(ArLog::Terse, "-laserDegreesEnd%s <endAngle>", buf);
ArLog::log(ArLog::Terse, "-lde%s <endAngle>", buf);
ArLog::log(ArLog::Terse, "\t<endAngle> is a double between %g and %g",
laser->getEndDegreesMin(), laser->getEndDegreesMax());
}
if (laser->canChooseDegrees())
{
ArLog::log(ArLog::Terse, "-laserDegrees%s <%s>", buf,
laser->getDegreesChoicesString());
ArLog::log(ArLog::Terse, "-ld%s <%s>", buf,
laser->getDegreesChoicesString());
}
if (laser->canSetIncrement())
{
ArLog::log(ArLog::Terse, "-laserIncrementByDegrees%s <incrementByDegrees>", buf);
ArLog::log(ArLog::Terse, "-libd%s <incrementByDegrees>", buf);
ArLog::log(ArLog::Terse,
"\t<incrementByDegrees> is a double between %g and %g",
laser->getIncrementMin(), laser->getIncrementMax());
}
if (laser->canChooseIncrement())
{
ArLog::log(ArLog::Terse, "-laserIncrement%s <%s>", buf,
laser->getIncrementChoicesString());
ArLog::log(ArLog::Terse, "-li%s <%s>", buf,
laser->getIncrementChoicesString());
}
if (laser->canChooseUnits())
{
ArLog::log(ArLog::Terse, "-laserUnits%s <%s>", buf,
laser->getUnitsChoicesString());
ArLog::log(ArLog::Terse, "-lu%s <%s>", buf,
laser->getUnitsChoicesString());
}
if (laser->canChooseReflectorBits())
{
ArLog::log(ArLog::Terse, "-laserReflectorBits%s <%s>", buf,
laser->getReflectorBitsChoicesString());
ArLog::log(ArLog::Terse, "-lrb%s <%s>", buf,
laser->getReflectorBitsChoicesString());
}
if (laser->canSetPowerControlled())
{
ArLog::log(ArLog::Terse, "-laserPowerControlled%s <true|false>", buf);
ArLog::log(ArLog::Terse, "-lpc%s <true|false>", buf);
}
if (laser->canChooseStartingBaud())
{
ArLog::log(ArLog::Terse, "-laserStartingBaud%s <%s>", buf,
laser->getStartingBaudChoicesString());
ArLog::log(ArLog::Terse, "-lsb%s <%s>", buf,
laser->getStartingBaudChoicesString());
}
if (laser->canChooseAutoBaud())
{
ArLog::log(ArLog::Terse, "-laserAutoBaud%s <%s>", buf,
laser->getAutoBaudChoicesString());
ArLog::log(ArLog::Terse, "-lab%s <%s>", buf,
laser->getAutoBaudChoicesString());
}
ArLog::log(ArLog::Terse, "-laserAdditionalIgnoreReadings%s <readings>", buf);
ArLog::log(ArLog::Terse, "-lair%s <readings>", buf);
ArLog::log(ArLog::Terse, "\t<readings> is a string that contains readings to ignore separated by commas, where ranges are acceptable with a -, example '75,76,90-100,-75,-76,-90--100'");
}
/**
Normally adding lasers is done from the .p file, you can use this
if you want to add them explicitly in a program (which will
override the .p file, and may cause some problems).
This is mainly for backwards compatibility (ie used for
ArSimpleConnector). If you're using this class you should probably
use the new functionality which is just ArLaserConnector::connectLasers.()
@internal
**/
AREXPORT bool ArLaserConnector::addLaser(
ArLaser *laser, int laserNumber)
{
std::map<int, LaserData *>::iterator it;
LaserData *laserData = NULL;
if ((it = myLasers.find(laserNumber)) != myLasers.end())
laserData = (*it).second;
if (laserData != NULL)
{
if (laserData->myLaserIsPlaceholder)
{
ArLog::log(myInfoLogLevel,
"ArLaserConnector::addLaser: Replacing placeholder laser #%d of type %s but a replacement laser of type %s was passed in",
laserNumber, laserData->myLaser->getName(), laser->getName());
if (laserData->myOwnPlaceholder)
delete laserData->myLaser;
laserData->myLaser = laser;
}
else
{
if (laserData->myLaser != NULL)
ArLog::log(ArLog::Terse,
"ArLaserConnector::addLaser: Already have laser for number #%d of type %s but a replacement laser of type %s was passed in",
laserNumber, laserData->myLaser->getName(), laser->getName());
else
ArLog::log(ArLog::Terse,
"ArLaserConnector::addLaser: Already have laser for number #%d but a replacement laser of type %s was passed in",
laserNumber, laser->getName());
delete laserData;
myLasers.erase(laserNumber);
}
}
myLasers[laserNumber] = new LaserData(laserNumber, laser);
return true;
}
/**
Normally adding lasers is done from the .p file, you can use this
if you want to add them explicitly in a program (which will
override the .p file, and may cause some problems).
This is only for backwards compatibility (ie used for
ArSimpleConnector). If you're using this class you should probably
use the new functionality which is just ArLaserConnector::connectLasers().
@internal
**/
AREXPORT bool ArLaserConnector::addPlaceholderLaser(
ArLaser *placeholderLaser,
int laserNumber, bool takeOwnershipOfPlaceholder)
{
std::map<int, LaserData *>::iterator it;
LaserData *laserData = NULL;
if ((it = myLasers.find(laserNumber)) != myLasers.end())
laserData = (*it).second;
if (laserData != NULL)
{
if (laserData->myLaserIsPlaceholder)
{
ArLog::log(myInfoLogLevel,
"ArLaserConnector::addPlaceholderLaser: Replacing placeholder laser #%d of type %s but a replacement laser of type %s was passed in",
laserNumber, laserData->myLaser->getName(),
placeholderLaser->getName());
if (laserData->myOwnPlaceholder)