AREXPORT ArTCMCompassDirect::ArTCMCompassDirect(const char *serialPortName) :
myCreatedOwnDeviceConnection(true),
myNMEAParser("ArTCMCompassDirect"),
myHCHDMHandler(this, &ArTCMCompassDirect::handleHCHDM)
{
ArSerialConnection *newSerialCon = new ArSerialConnection();
newSerialCon->setPort(serialPortName);
newSerialCon->setBaud(9600);
myDeviceConnection = newSerialCon;
myNMEAParser.addHandler("HCHDM", &myHCHDMHandler);
}
void SetupRobot(void)
{
puts("attempting to connect to robot");
RobotConnectoin.setPort("COM8");
RobotConnectoin.setBaud(9600);
robot.setDeviceConnection(&RobotConnectoin);
if(!robot.blockingConnect()){puts("not connected to robot");Aria::shutdown();}
robot.addRangeDevice(&sonarDev);
robot.addRangeDevice(&bumpers);
robot.enableMotors();
robot.enableSonar();
robot.requestEncoderPackets();
robot.setCycleChained(false);
// robot.setRotVelMax(robot.getRotVelMax());
}
int main(int argc, char **argv)
{
Aria::init();
ArLog::init(ArLog::StdErr, ArLog::Normal);
ArArgumentParser parser(&argc, argv);
parser.loadDefaultArguments();
if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
{
Aria::logOptions();
Aria::exit(1);
}
ArSerialConnection con;
con.setPort(ArUtil::COM4);
con.setBaud(19200);
if(!con.openSimple())
ArLog::log(ArLog::Terse, "could not open COM4");
char buf[512];
while (true)
{
int n = con.read(buf, 512, 10);
if(n < 0)
{
ArLog::log(ArLog::Terse, "Error reading.");
Aria::exit(n);
}
if(n == 0)
continue;
// log for debugging:
char cmd = 0;
int x = 0;
int size = 0;
for(int i = 0; i < n; ++i)
{
if(buf[i] == 0xc1 || buf[i] == 0x5a) puts("");
printf("0x%hhX (%u) ", buf[i], buf[i]);
}
}
Aria::exit(0);
}
// Create an ArGPS object. If some options were obtained from command-line
// parameters by parseArgs(), use those, otherwise get values from robot
// parameters (the .p file) if we have a valid robot with valid parameters.
AREXPORT ArGPS* ArGPSConnector::createGPS(ArRobot *robot)
{
// If we have a robot with parameters (i.e. have connected and read the .p
// file), use those values unless already set by parseArgs() from command-line
if(robot && robot->getRobotParams())
{
if(myPort == NULL) {
myPort = robot->getRobotParams()->getGPSPort();
if(strcmp(myPort, "COM1") == 0)
myPort = ArUtil::COM1;
if(strcmp(myPort, "COM2") == 0)
myPort = ArUtil::COM2;
if(strcmp(myPort, "COM3") == 0)
myPort = ArUtil::COM3;
if(strcmp(myPort, "COM4") == 0)
myPort = ArUtil::COM4;
}
if(myBaud == -1) {
myBaud = robot->getRobotParams()->getGPSBaud();
}
if(myDeviceType == Invalid) {
myDeviceType = deviceTypeFromString(robot->getRobotParams()->getGPSType());
}
}
else
{
if(myPort == NULL) myPort = ARGPS_DEFAULT_SERIAL_PORT;
if(myBaud == -1) myBaud = ARGPS_DEFAULT_SERIAL_BAUD;
if(myDeviceType == Invalid) myDeviceType = Standard;
}
// Create gps:
ArGPS* newGPS = NULL;
switch (myDeviceType)
{
case Novatel:
ArLog::log(ArLog::Normal, "ArGPSConnector: Using Novatel GPS");
newGPS = new ArNovatelGPS;
break;
case Trimble:
ArLog::log(ArLog::Normal, "ArGPSConnector: Using Trimble GPS");
newGPS = new ArTrimbleGPS;
break;
case NovatelSPAN:
ArLog::log(ArLog::Normal, "ArGPSConnector: Using Novatel SPAN GPS");
newGPS = new ArNovatelSPAN;
break;
default:
ArLog::log(ArLog::Normal, "ArGPSConnector: Using standard NMEA GPS");
newGPS = new ArGPS;
break;
}
if (myTCPHost == NULL)
{
// Setup serial connection
ArSerialConnection *serialCon = new ArSerialConnection;
ArLog::log(ArLog::Normal, "ArGPSConnector: Connecting to GPS on port %s at %d baud...", myPort, myBaud);
if (!serialCon->setBaud(myBaud)) { delete serialCon; return false; }
if (serialCon->open(myPort) != 0) {
ArLog::log(ArLog::Terse, "ArGPSConnector: Error: could not open GPS serial port %s.", myPort);
delete serialCon;
return NULL;
}
newGPS->setDeviceConnection(serialCon);
myDeviceCon = serialCon;
}
else
{
// Setup TCP connection
ArTcpConnection *tcpCon = new ArTcpConnection;
ArLog::log(ArLog::Normal, "ArGPSConnector: Opening TCP connection to %s:%d...", myTCPHost, myTCPPort);
int openState = tcpCon->open(myTCPHost, myTCPPort);
if (openState != 0) {
ArLog::log(ArLog::Terse, "ArGPSConnector: Error: could not open TCP connection to %s port %d: %s", tcpCon->getOpenMessage(openState));
delete tcpCon;
return NULL;
}
newGPS->setDeviceConnection(tcpCon);
myDeviceCon = tcpCon;
}
return newGPS;
}
bool ArUrg::internalConnect(void)
{
bool ret = true;
char buf[1024];
ArSerialConnection *serConn = NULL;
serConn = dynamic_cast<ArSerialConnection *>(myConn);
bool alreadyAtAutobaud = false;
// empty the buffer...
buf[0] = '\0';
while (readLine(buf, sizeof(buf), 1));
if (!(ret = sendCommandAndRecvStatus(
"V", "version request",
buf, sizeof(buf), 10000)) ||
strcasecmp(buf, "0") != 0)
{
// if we didn't get it, try it at what the autobaud rate is
if (serConn != NULL)
{
alreadyAtAutobaud = true;
serConn->setBaud(atoi(getAutoBaudChoice()));
ArUtil::sleep(100);
if (!(ret = sendCommandAndRecvStatus(
"V", "version request after falling back to autobaudchoice",
buf, sizeof(buf), 10000)) ||
strcasecmp(buf, "0") != 0)
{
if (ret && strcasecmp(buf, "0") != 0)
ArLog::log(ArLog::Normal,
"%s::blockingConnect: Bad status on version response after falling back to autobaudchoice",
getName());
return false;
}
}
// if we don't have a serial port, then we can't change the baud,
// so just fail
else
{
if (ret && strcasecmp(buf, "0") != 0)
ArLog::log(ArLog::Normal,
"%s::blockingConnect: Bad status on version response (%s)",
getName(), buf);
return false;
}
}
if (!alreadyAtAutobaud && serConn != NULL)
{
// empty the buffer from the last version request
while (readLine(buf, sizeof(buf), 100));
// now change the baud...
sprintf(buf, "S%06d7654321", atoi(getAutoBaudChoice()));
if (!writeLine(buf))
return false;
ArUtil::sleep(100);
//serConn->setBaud(115200);
serConn->setBaud(atoi(getAutoBaudChoice()));
// wait a second for the baud to change...
ArUtil::sleep(100);
// empty the buffer from the baud change
while (readLine(buf, sizeof(buf), 100));
if (!(ret = sendCommandAndRecvStatus(
"V", "version request after switching to autobaudchoice",
buf, sizeof(buf), 10000)) ||
strcasecmp(buf, "0") != 0)
{
if (ret && strcasecmp(buf, "0") != 0)
ArLog::log(ArLog::Normal,
"%s::blockingConnect: Bad status on version response after switching to autobaudchoice",
getName());
return false;
}
ArLog::log(ArLog::Normal, "%s: Switched to %s baud rate",
getName(), getAutoBaudChoice());
}
while (readLine(buf, sizeof(buf), 10000))
{
/// MPL put this in instead of the following because of the
/// behavior change of readline
if (strlen(buf) == 0)
break;
if (strncasecmp(buf, "VEND:", strlen("VEND:")) == 0)
myVendor = &buf[5];
else if (strncasecmp(buf, "PROD:", strlen("PROD:")) == 0)
myProduct = &buf[5];
else if (strncasecmp(buf, "FIRM:", strlen("FIRM:")) == 0)
myFirmwareVersion = &buf[5];
else if (strncasecmp(buf, "PROT:", strlen("PROT:")) == 0)
myProtocolVersion = &buf[5];
else if (strncasecmp(buf, "SERI:", strlen("SERI:")) == 0)
mySerialNumber = &buf[5];
else if (strncasecmp(buf, "STAT:", strlen("STAT:")) == 0)
myStat = &buf[5];
}
if (myVendor.empty() || myProduct.empty() || myFirmwareVersion.empty() ||
myProtocolVersion.empty() || mySerialNumber.empty())
{
ArLog::log(ArLog::Normal,
"%s::blockingConnect: Missing information in version response",
getName());
return false;
}
log();
myLogMore = true;
// myLogMore = false;
ArUtil::sleep(100);
printf("myRequestString %s\n", myRequestString);
if (!(ret = sendCommandAndRecvStatus(
myRequestString, "request distance reading",
buf, sizeof(buf), 10000)) ||
strcasecmp(buf, "0") != 0)
{
if (ret && strcasecmp(buf, "0") != 0)
ArLog::log(ArLog::Normal,
"%s::blockingConnect: Bad status on distance reading response (%c)",
getName(), buf[0]);
return false;
}
myLogMore = false;
ArTime started;
started.setToNow();
while (started.secSince() < 10 && readLine(buf, sizeof(buf), 10000))
{
if (strlen(buf) == 0)
return true;
}
ArLog::log(ArLog::Normal, "%s::blockingConnect: Did not get distance reading back",
getName(), buf[0]);
return false;
}
AREXPORT bool ArUrg::blockingConnect(void)
{
if (!getRunning())
runAsync();
myConnMutex.lock();
if (myConn == NULL)
{
ArLog::log(ArLog::Terse,
"%s: Could not connect because there is no connection defined",
getName());
myConnMutex.unlock();
failedToConnect();
return false;
}
ArSerialConnection *serConn = NULL;
serConn = dynamic_cast<ArSerialConnection *>(myConn);
if (serConn != NULL)
serConn->setBaud(atoi(getStartingBaudChoice()));
if (myConn->getStatus() != ArDeviceConnection::STATUS_OPEN &&
!myConn->openSimple())
{
ArLog::log(ArLog::Terse,
"%s: Could not connect because the connection was not open and could not open it",
getName());
myConnMutex.unlock();
failedToConnect();
return false;
}
myConnMutex.unlock();
lockDevice();
myTryingToConnect = true;
unlockDevice();
laserPullUnsetParamsFromRobot();
laserCheckParams();
setParams(getStartDegrees(), getEndDegrees(), getIncrement(), getFlipped());
ArUtil::sleep(100);
bool connected = false;
if (internalConnect())
connected = true;
if (connected)
{
lockDevice();
myIsConnected = true;
myTryingToConnect = false;
unlockDevice();
ArLog::log(ArLog::Normal, "%s: Connected to laser", getName());
laserConnect();
return true;
}
else
{
failedToConnect();
return false;
}
}
bool ArUrg_2_0::internalConnect(void)
{
bool ret = true;
char buf[1024];
ArSerialConnection *serConn = NULL;
serConn = dynamic_cast<ArSerialConnection *>(myConn);
bool alreadyAtAutobaud = false;
// empty the buffer...
/*
sendCommandAndRecvStatus(
"RS", "reset",
buf, sizeof(buf), 1000);
readLine(buf, sizeof(buf), 1, true, false);
sendCommandAndRecvStatus(
"SCIP2.0", "SCIP 2.0 request",
buf, sizeof(buf), 1000);
*/
writeLine("RS");
ArUtil::sleep(100);
writeLine("SCIP2.0");
ArUtil::sleep(100);
ArTime startedFlushing;
while (readLine(buf, sizeof(buf), 1, true, false) ||
startedFlushing.mSecSince() < 1000);
buf[0] = '\0';
if (!(ret = sendCommandAndRecvStatus(
"VV", "version request",
buf, sizeof(buf), 10000)) ||
strcasecmp(buf, "00") != 0)
{
// if we didn't get it and have an autobaud, try it at what the autobaud rate is
if (serConn != NULL && atoi(getAutoBaudChoice()) > 0)
{
alreadyAtAutobaud = true;
serConn->setBaud(atoi(getAutoBaudChoice()));
ArUtil::sleep(100);
writeLine("RS");
ArUtil::sleep(100);
writeLine("SCIP2.0");
ArUtil::sleep(100);
startedFlushing.setToNow();
while (readLine(buf, sizeof(buf), 1, true, false) ||
startedFlushing.mSecSince() < 1000);
if (!(ret = sendCommandAndRecvStatus(
"VV", "version request after falling back to autobaudchoice",
buf, sizeof(buf), 10000)) ||
strcasecmp(buf, "00") != 0)
{
if (ret && strcasecmp(buf, "00") != 0)
ArLog::log(ArLog::Normal,
"%s::blockingConnect: Bad status on version response after falling back to autobaudchoice",
getName());
return false;
}
}
// if we don't have a serial port or no autobaud then we can't
// change the baud, so just fail
else
{
if (ret && strcasecmp(buf, "00") != 0)
ArLog::log(ArLog::Normal,
"%s::blockingConnect: Bad status on version response (%s)",
getName(), buf);
return false;
}
}
// if we want to autobaud, then give it a whirl
if (!alreadyAtAutobaud && serConn != NULL && atoi(getAutoBaudChoice()) > 0)
{
// empty the buffer from the last version request
while (readLine(buf, sizeof(buf), 100, true, false));
// now change the baud...
sprintf(buf, "SS%06d", atoi(getAutoBaudChoice()));
if (!writeLine(buf))
return false;
ArUtil::sleep(100);
//serConn->setBaud(115200);
serConn->setBaud(atoi(getAutoBaudChoice()));
// wait a second for the baud to change...
ArUtil::sleep(100);
// empty the buffer from the baud change
while (readLine(buf, sizeof(buf), 100, true, false));
if (!(ret = sendCommandAndRecvStatus(
"VV", "version request after switching to autobaudchoice",
buf, sizeof(buf), 10000)) ||
strcasecmp(buf, "00") != 0)
{
if (ret && strcasecmp(buf, "00") != 0)
ArLog::log(ArLog::Normal,
"%s::blockingConnect: Bad status on version response after switching to autobaudchoice",
getName());
return false;
}
ArLog::log(ArLog::Verbose, "%s: Switched to %s baud rate",
getName(), getAutoBaudChoice());
}
while (readLine(buf, sizeof(buf), 10000, false, true))
{
if (strlen(buf) == 0)
break;
if (strncasecmp(buf, "VEND:", strlen("VEND:")) == 0)
myVendor = &buf[5];
else if (strncasecmp(buf, "PROD:", strlen("PROD:")) == 0)
myProduct = &buf[5];
else if (strncasecmp(buf, "FIRM:", strlen("FIRM:")) == 0)
myFirmwareVersion = &buf[5];
else if (strncasecmp(buf, "PROT:", strlen("PROT:")) == 0)
myProtocolVersion = &buf[5];
else if (strncasecmp(buf, "SERI:", strlen("SERI:")) == 0)
mySerialNumber = &buf[5];
else if (strncasecmp(buf, "STAT:", strlen("STAT:")) == 0)
myStat = &buf[5];
}
if (myVendor.empty() || myProduct.empty() || myFirmwareVersion.empty() ||
myProtocolVersion.empty() || mySerialNumber.empty())
{
ArLog::log(ArLog::Normal,
"%s::blockingConnect: Missing information in version response",
getName());
return false;
}
if (!(ret = sendCommandAndRecvStatus(
"PP", "parameter info request",
buf, sizeof(buf), 10000)) ||
strcasecmp(buf, "00") != 0)
{
ArLog::log(ArLog::Normal,
"%s::blockingConnect: Bad response to parameter info request",
getName());
return false;
}
while (readLine(buf, sizeof(buf), 10000, false, true))
{
if (strlen(buf) == 0)
break;
if (strncasecmp(buf, "MODL:", strlen("MODL:")) == 0)
myModel = &buf[5];
else if (strncasecmp(buf, "DMIN:", strlen("DMIN:")) == 0)
myDMin = atoi(&buf[5]);
else if (strncasecmp(buf, "DMAX:", strlen("DMAX:")) == 0)
myDMax = atoi(&buf[5]);
else if (strncasecmp(buf, "ARES:", strlen("ARES:")) == 0)
myARes = atoi(&buf[5]);
else if (strncasecmp(buf, "AMIN:", strlen("AMIN:")) == 0)
myAMin = atoi(&buf[5]);
else if (strncasecmp(buf, "AMAX:", strlen("AMAX:")) == 0)
myAMax = atoi(&buf[5]);
else if (strncasecmp(buf, "AFRT:", strlen("AFRT:")) == 0)
myAFront = atoi(&buf[5]);
else if (strncasecmp(buf, "SCAN:", strlen("SCAN:")) == 0)
myScan = atoi(&buf[5]);
}
if (myModel.empty() || myDMin == 0 || myDMax == 0 || myARes == 0 ||
myAMin == 0 || myAMax == 0 || myAFront == 0 || myScan == 0)
{
ArLog::log(ArLog::Normal,
"%s::blockingConnect: Missing information in parameter info response",
getName());
return false;
}
myStepSize = 360.0 / myARes;
myStepFirst = myAFront * myStepSize;
if (myMaxRange > myDMax)
setMaxRange(myDMax);
//log();
setParams(getStartDegrees(), getEndDegrees(), getIncrement(), getFlipped());
//myLogMore = true;
// myLogMore = false;
ArUtil::sleep(100);
//printf("myRequestString %s\n", myRequestString);
if (!(ret = sendCommandAndRecvStatus(
myRequestString, "request distance reading",
buf, sizeof(buf), 10000)) ||
strcasecmp(buf, "00") != 0)
{
if (ret && strcasecmp(buf, "00") != 0)
ArLog::log(ArLog::Normal,
"%s::blockingConnect: Bad status on distance reading response (%s)",
getName(), buf);
return false;
}
//myLogMore = false;
ArTime started;
started.setToNow();
while (started.secSince() < 10 &&
readLine(buf, sizeof(buf), 10000, true, false))
{
if (strlen(buf) == 0)
return true;
}
ArLog::log(ArLog::Normal, "%s::blockingConnect: Did not get distance reading back",
getName());
return false;
}
AREXPORT bool ArUrg_2_0::blockingConnect(void)
{
if (!getRunning())
runAsync();
myConnMutex.lock();
if (myConn == NULL)
{
ArLog::log(ArLog::Terse,
"%s: Could not connect because there is no connection defined",
getName());
myConnMutex.unlock();
failedToConnect();
return false;
}
ArSerialConnection *serConn = NULL;
serConn = dynamic_cast<ArSerialConnection *>(myConn);
// if we have a starting baud and are a serial port, then change the
// baud rate... not by default this will set it to 0 baud which'll
// cause the serial stuff not to touch it
if (serConn != NULL)
serConn->setBaud(atoi(getStartingBaudChoice()));
if (myConn->getStatus() != ArDeviceConnection::STATUS_OPEN &&
!myConn->openSimple())
{
ArLog::log(ArLog::Terse,
"%s: Could not connect because the connection was not open and could not open it",
getName());
myConnMutex.unlock();
failedToConnect();
return false;
}
myConnMutex.unlock();
lockDevice();
myTryingToConnect = true;
unlockDevice();
laserPullUnsetParamsFromRobot();
laserCheckParams();
ArUtil::sleep(100);
bool connected = false;
if (internalConnect())
connected = true;
if (connected)
{
lockDevice();
myIsConnected = true;
myTryingToConnect = false;
unlockDevice();
ArLog::log(ArLog::Normal, "%s: Connected to laser", getName());
laserConnect();
return true;
}
else
{
failedToConnect();
return false;
}
}
AREXPORT bool ArSZSeries::blockingConnect(void) {
if (!getRunning())
runAsync();
myConnMutex.lock();
if (myConn == NULL) {
ArLog::log(ArLog::Terse,
"%s: Could not connect because there is no connection defined",
getName());
myConnMutex.unlock();
failedToConnect();
return false;
}
// myPrevSensorIntTime = myConn->getTimeRead(0);
// PS 9/9/11 - moved this here to fix issue with setting baud in mt400.p
laserPullUnsetParamsFromRobot();
laserCheckParams();
// PS 9/9/11 - add setting baud
ArSerialConnection *serConn = NULL;
serConn = dynamic_cast<ArSerialConnection *>(myConn);
if (serConn != NULL)
serConn->setBaud(atoi(getStartingBaudChoice()));
if (myConn->getStatus() != ArDeviceConnection::STATUS_OPEN
&& !myConn->openSimple()) {
ArLog::log(
ArLog::Terse,
"%s: Could not connect because the connection was not open and could not open it",
getName());
myConnMutex.unlock();
failedToConnect();
return false;
}
// PS - set logging level and laser type in packet receiver class
myReceiver.setmyInfoLogLevel(myInfoLogLevel);
myReceiver.setmyName(getName());
myReceiver.setDeviceConnection(myConn);
myConnMutex.unlock();
lockDevice();
myTryingToConnect = true;
unlockDevice();
// PS 9/9/11 - moved up top
//laserPullUnsetParamsFromRobot();
//laserCheckParams();
int size = ArMath::roundInt((270/.3) + 1);
ArLog::log(myInfoLogLevel,
"%s::blockingConnect() Setting current buffer size to %d",
getName(), size);
setCurrentBufferSize(size);
ArTime timeDone;
if (myPowerControlled)
{
if (!timeDone.addMSec(60 * 1000))
{
ArLog::log(ArLog::Normal,
"%s::blockingConnect() error adding msecs (60 * 1000)",
getName());
}
}
else
{
if (!timeDone.addMSec(30 * 1000))
{
ArLog::log(ArLog::Normal,
"%s::blockingConnect() error adding msecs (30 * 1000)",
getName());
}
}
ArSZSeriesPacket *packet;
ArSZSeriesPacket sendPacket;
#if 0
sendPacket.empty();
sendPacket.uByteToBuf(0xA0); // stop continous sending
sendPacket.uByteToBuf(0x00);
sendPacket.uByteToBuf(0x1D);
sendPacket.uByteToBuf(0x7E);
sendPacket.finalizePacket();
if ((myConn->write(sendPacket.getBuf(), sendPacket.getLength())) == -1)
{
ArLog::log(ArLog::Terse,
"%s::blockingConnect() Could not send Stop Continuous mode to laser", getName());
failedToConnect();
return false;
}
#endif
// Build the Start Continuous sending packet and set it
// once we get a response, then we are connected, note
// the response needs to be a real reading
sendPacket.empty();
// command id = 0x91
//sendPacket.uByteToBuf(145);
sendPacket.uByteToBuf(0x91);
// note communication ID default is 0
// this value is set via the SZ Configurator
// ???? not sure what to do if it fails
// and put in CRC - from manual, this is
// specific to the communication ID = 0
sendPacket.uByteToBuf(0);
sendPacket.uByteToBuf(43);
sendPacket.uByteToBuf(218);
unsigned short crc = myReceiver.CRC16((unsigned char *)sendPacket.getBuf(), 2);
#if 0
// other communications IDs and CRC
// communication ID =1
sendPacket.uByteToBuf(1);
sendPacket.uByteToBuf(59);
sendPacket.uByteToBuf(251);
// communication ID =2
sendPacket.uByteToBuf(2);
sendPacket.uByteToBuf(11);
sendPacket.uByteToBuf(152);
// communication ID =3
sendPacket.uByteToBuf(3);
sendPacket.uByteToBuf(27);
sendPacket.uByteToBuf(185);
#endif
sendPacket.finalizePacket();
IFDEBUG(
int i;
char x[100000];
printf("buffer with len = %d: ",sendPacket.getLength());
for (i = 0;i < sendPacket.getLength();i++)
{
printf("0x%x ",sendPacket.getBuf()[i] & 0xff);
//sprintf(&x[i], "%2x", (char *)sendPacket.getBuf()[i]);
}
printf("\n");
//ArLog::log(ArLog::Terse,
// "%s::blockingConnect() write Buffer = %s", getName(), x);
); // end IFDEBUG
int main(int argc, char **argv)
{
int ret;
std::string str;
ArSerialConnection con;
ArSickPacket sick;
ArSickPacket *packet;
ArSickPacketReceiver receiver(&con);
ArTime start;
unsigned int value;
int numReadings;
ArTime lastReading;
ArTime packetTime;
start.setToNow();
// open the connection, if it fails, exit
if ((ret = con.open()) != 0)
{
str = con.getOpenMessage(ret);
printf("Open failed: %s\n", str.c_str());
Aria::shutdown();
return 1;
}
start.setToNow();
printf("Waiting for laser to power on\n");
sick.empty();
sick.uByteToBuf(0x10);
sick.finalizePacket();
con.write(sick.getBuf(), sick.getLength());
while (start.secSince() < 70 &&
((packet = receiver.receivePacket(100)) == NULL
|| (packet->getID() != 0x90)));
if (packet != NULL)
printf("Laser powered on\n");
else
exit(1);
printf("Changing baud\n");
sick.empty();
sick.byteToBuf(0x20);
sick.byteToBuf(0x40);
sick.finalizePacket();
con.write(sick.getBuf(), sick.getLength());
ArUtil::sleep(10);
if (!con.setBaud(38400))
{
printf("Could not set baud, exiting\n");
}
/*packet = receiver.receivePacket(100);
if (packet != NULL)
packet->log();
*/
sick.empty();
sick.uByteToBuf(0x3B);
sick.uByte2ToBuf(180);
sick.uByte2ToBuf(100);
sick.finalizePacket();
con.write(sick.getBuf(), sick.getLength());
packet = receiver.receivePacket(100);
if (packet != NULL)
packet->log();
sick.empty();
sick.byteToBuf(0x20);
sick.byteToBuf(0x24);
sick.finalizePacket();
con.write(sick.getBuf(), sick.getLength());
packet = receiver.receivePacket(100);
if (packet != NULL)
packet->log();
printf("Starting to report back from port, it took %ld ms to get here:\n",
start.mSecSince());
start.setToNow();
while (start.secSince() < 6)
{
packetTime.setToNow();
packet = receiver.receivePacket();
if (packet != NULL)
printf("####### %ld ms was how long the packet took\n", packetTime.mSecSince());
if (packet != NULL)
{
if (packet->getLength() < 10)
packet->log();
else if (packet->getID() == 0x90)
{
char strBuf[512];
packet->log();
//printf("%x\n", packet->bufToUByte());
packet->bufToStr(strBuf, 512);
printf("0x%x %s\n", packet->getID(), strBuf);
sick.empty();
sick.uByteToBuf(0x3B);
sick.uByte2ToBuf(180);
sick.uByte2ToBuf(100);
sick.finalizePacket();
con.write(sick.getBuf(), sick.getLength());
packet = receiver.receivePacket(100);
sick.empty();
sick.uByteToBuf(0x20);
sick.uByteToBuf(0x24);
sick.finalizePacket();
con.write(sick.getBuf(), sick.getLength());
}
else
{
value = packet->bufToUByte2();
numReadings = value & 0x3ff;
printf("%ld ms after last reading.\n", lastReading.mSecSince());
/*
printf("Reading number %d, complete %d, unit: %d %d:\n", value & 0x3ff, !(bool)(value & ArUtil::BIT13), (bool)(value & ArUtil::BIT14), (bool)(value & ArUtil::BIT15));
for (i = 0; i < numReadings; i++)
{
value = packet->bufToUByte2();
if (value & ArUtil::BIT13)
printf("D");
printf("%d ", value & 0x1fff);
}
printf("\n");
*/
lastReading.setToNow();
}
}
else
{
//printf("No packet\n");
}
}
}
