AREXPORT ArUrg::ArUrg(int laserNumber, const char *name) :
ArLaser(laserNumber, name, 4095),
mySensorInterpTask(this, &ArUrg::sensorInterp),
myAriaExitCB(this, &ArUrg::disconnect)
{
clear();
myRawReadings = NULL;
Aria::addExitCallback(&myAriaExitCB, -10);
laserSetName(getName());
setParams();
setSensorPosition(0, 0, 0);
laserAllowSetDegrees(-120, -135, 135, // default, min and max start degrees
120, -135, 135); // default, min and max end degrees
laserAllowSetIncrement(1, 0, 135);
std::list<std::string> baudChoices;
baudChoices.push_back("019200");
baudChoices.push_back("057600");
baudChoices.push_back("115200");
baudChoices.push_back("250000");
baudChoices.push_back("500000");
baudChoices.push_back("750000");
laserAllowStartingBaudChoices("019200", baudChoices);
laserAllowAutoBaudChoices("057600", baudChoices);
setMinDistBetweenCurrent(0);
setMaxDistToKeepCumulative(4000);
setMinDistBetweenCumulative(200);
setMaxSecondsToKeepCumulative(30);
setMaxInsertDistCumulative(3000);
setCumulativeCleanDist(75);
setCumulativeCleanInterval(1000);
setCumulativeCleanOffset(600);
resetLastCumulativeCleanTime();
setCurrentDrawingData(
new ArDrawingData("polyDots",
ArColor(0, 0xaa, 0xaa),
70, // mm diameter of dots
77), true);
setCumulativeDrawingData(
new ArDrawingData("polyDots",
ArColor(0, 0x55, 0x55),
100, // mm diameter of dots
62), true);
//myLogMore = false;
myLogMore = true;
}
AREXPORT ArLMS1XX::ArLMS1XX(int laserNumber,
const char *name) :
ArLaser(laserNumber, name, 20000),
mySensorInterpTask(this, &ArLMS1XX::sensorInterp),
myAriaExitCB(this, &ArLMS1XX::disconnect)
{
clear();
myRawReadings = new std::list<ArSensorReading *>;
Aria::addExitCallback(&myAriaExitCB, -10);
setInfoLogLevel(ArLog::Normal);
laserSetName(getName());
laserAllowSetPowerControlled(false);
laserAllowSetDegrees(-135, -135, 135, // start degrees
135, -135, 135); // end degrees
std::map<std::string, double> incrementChoices;
incrementChoices["half"] = .5;
incrementChoices["quarter"] = .25;
laserAllowIncrementChoices("half", incrementChoices);
laserSetDefaultTcpPort(2111);
laserSetDefaultPortType("tcp");
myLogLevel = ArLog::Verbose;
setMinDistBetweenCurrent(50);
setMaxDistToKeepCumulative(4000);
setMinDistBetweenCumulative(200);
setMaxSecondsToKeepCumulative(30);
setMaxInsertDistCumulative(3000);
setCumulativeCleanDist(75);
setCumulativeCleanInterval(1000);
setCumulativeCleanOffset(600);
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 ArLaserFilter::ArLaserFilter(
ArLaser *laser, const char *name) :
ArLaser(laser->getLaserNumber(),
name != NULL && name[0] != '\0' ? name : laser->getName(),
laser->getAbsoluteMaxRange(),
laser->isLocationDependent(),
false),
myProcessCB(this, &ArLaserFilter::processReadings)
{
myLaser = laser;
if (name == NULL || name[0] == '\0')
{
std::string filteredName;
filteredName = "filtered_";
filteredName += laser->getName();
laserSetName(filteredName.c_str());
}
myRawReadings = new std::list<ArSensorReading *>;
char buf[1024];
sprintf(buf, "%sProcessCB", getName());
myProcessCB.setName(buf);
myAngleToCheck = 1;
myAnyFactor = -1;
myAllFactor = -1;
myMaxRange = -1;
setCurrentDrawingData(
new ArDrawingData(*(myLaser->getCurrentDrawingData())),
true);
setCumulativeDrawingData(
new ArDrawingData(*(myLaser->getCumulativeDrawingData())),
true);
// laser parameters
setInfoLogLevel(myLaser->getInfoLogLevel());
setConnectionTimeoutSeconds(myLaser->getConnectionTimeoutSeconds());
setCumulativeCleanDist(myLaser->getCumulativeCleanDist());
setCumulativeCleanInterval(myLaser->getCumulativeCleanInterval());
setCumulativeCleanOffset(myLaser->getCumulativeCleanOffset());
setSensorPosition(myLaser->getSensorPosition());
laserSetAbsoluteMaxRange(myLaser->getAbsoluteMaxRange());
setMaxRange(myLaser->getMaxRange());
// base range device parameters
setMaxSecondsToKeepCurrent(myLaser->getMaxSecondsToKeepCurrent());
setMinDistBetweenCurrent(getMinDistBetweenCurrent());
setMaxSecondsToKeepCumulative(myLaser->getMaxSecondsToKeepCumulative());
setMaxDistToKeepCumulative(myLaser->getMaxDistToKeepCumulative());
setMinDistBetweenCumulative(myLaser->getMinDistBetweenCumulative());
setMaxInsertDistCumulative(myLaser->getMaxInsertDistCumulative());
setCurrentDrawingData(myLaser->getCurrentDrawingData(), false);
setCumulativeDrawingData(myLaser->getCumulativeDrawingData(), false);
// now all the specific laser settings (this should already be taken
// care of when this is created, but the code existed for the
// simulated laser so I put it here too)
if (myLaser->canSetDegrees())
laserAllowSetDegrees(
myLaser->getStartDegrees(), myLaser->getStartDegreesMin(),
myLaser->getStartDegreesMax(), myLaser->getEndDegrees(),
myLaser->getEndDegreesMin(), myLaser->getEndDegreesMax());
if (myLaser->canChooseDegrees())
laserAllowDegreesChoices(myLaser->getDegreesChoice(),
myLaser->getDegreesChoicesMap());
if (myLaser->canSetIncrement())
laserAllowSetIncrement(myLaser->getIncrement(),
myLaser->getIncrementMin(),
myLaser->getIncrementMax());
if (myLaser->canChooseIncrement())
laserAllowIncrementChoices(myLaser->getIncrementChoice(),
myLaser->getIncrementChoicesMap());
if (myLaser->canChooseUnits())
laserAllowUnitsChoices(myLaser->getUnitsChoice(),
myLaser->getUnitsChoices());
if (myLaser->canChooseReflectorBits())
laserAllowReflectorBitsChoices(myLaser->getReflectorBitsChoice(),
myLaser->getReflectorBitsChoices());
if (canSetPowerControlled())
laserAllowSetPowerControlled(myLaser->getPowerControlled());
if (myLaser->canChooseStartingBaud())
laserAllowStartingBaudChoices(myLaser->getStartingBaudChoice(),
myLaser->getStartingBaudChoices());
if (myLaser->canChooseAutoBaud())
laserAllowAutoBaudChoices(myLaser->getAutoBaudChoice(),
myLaser->getAutoBaudChoices());
laserSetDefaultTcpPort(myLaser->getDefaultTcpPort());
laserSetDefaultPortType(myLaser->getDefaultPortType());
}
AREXPORT ArLaser::ArLaser(
int laserNumber, const char *name,
unsigned int absoluteMaxRange, bool locationDependent,
bool appendLaserNumberToName) :
ArRangeDeviceThreaded(
361, 200, name, absoluteMaxRange,
0, 0, 0, locationDependent)
{
myLaserNumber = laserNumber;
if (appendLaserNumberToName)
{
char buf[1024];
snprintf(buf, sizeof(buf) - 20, "%s", name);
sprintf(buf, "%s_%d", buf, myLaserNumber);
myName = buf;
}
else
{
if (laserNumber != 1)
ArLog::log(ArLog::Verbose, "ArLaser::%s: Laser created with number %d, but the number is not appended to the name which may break things (especially since this number is greater than 1_", name, laserNumber);
myName = name;
}
laserSetName(myName.c_str());
myAbsoluteMaxRange = absoluteMaxRange;
myMaxRangeSet = false;
setSensorPosition(0, 0, 0, 0);
myTimeoutSeconds = 8;
myHaveSensorPose = false;
myFlipped = false;
myFlippedSet = false;
myCanSetDegrees = false;
myStartDegreesMin = HUGE_VAL;
myStartDegreesMax = -HUGE_VAL;
myStartDegreesSet = false;
myStartDegrees = 0;
myEndDegreesMin = HUGE_VAL;
myEndDegreesMax = -HUGE_VAL;
myEndDegreesSet = false;
myEndDegrees = 0;
myCanChooseDegrees = false;
myDegreesChoiceDouble = -HUGE_VAL;
myCanSetIncrement = 0;
myIncrementMin = HUGE_VAL;
myIncrementMax = -HUGE_VAL;
myIncrementSet = false;
myIncrement = 0;
myCanChooseIncrement = false;
myIncrementChoiceDouble = -HUGE_VAL;
myCanChooseUnits = false;
myCanChooseReflectorBits = false;
myCanSetPowerControlled = false;
myPowerControlled = true;
myPowerControlledSet = false;
myCanChooseStartingBaud = false;
myCanChooseAutoBaud = false;
myDefaultTcpPort = 8102;
myInfoLogLevel = ArLog::Verbose;
myRobotRunningAndConnected = false;
}
AREXPORT ArSZSeries::ArSZSeries(int laserNumber, const char *name) :
ArLaser(laserNumber, name, 16382),
mySensorInterpTask(this, &ArSZSeries::sensorInterp),
myAriaExitCB(this, &ArSZSeries::disconnect) {
//ArLog::log(ArLog::Normal, "%s: Sucessfully created", getName());
clear();
myRawReadings = new std::list<ArSensorReading *>;
Aria::addExitCallback(&myAriaExitCB, -10);
setInfoLogLevel(ArLog::Normal);
//setInfoLogLevel(ArLog::Terse);
laserSetName( getName());
laserAllowSetPowerControlled(false);
laserSetDefaultPortType("serial422");
std::list < std::string > baudChoices;
baudChoices.push_back("9600");
baudChoices.push_back("19200");
baudChoices.push_back("38400");
baudChoices.push_back("57600");
baudChoices.push_back("115200");
//baudChoices.push_back("125000");
baudChoices.push_back("230400");
baudChoices.push_back("460800");
//laserAllowStartingBaudChoices("9600", baudChoices);
laserAllowStartingBaudChoices("38400", baudChoices);
// PS 9/9/11 - don't allow auto baud for his laser
//laserAllowAutoBaudChoices("57600", baudChoices);
laserAllowSetDegrees(-135, -135, -135, 135, 135, 135);
laserAllowSetIncrement(0.5, 0.5, 0.5);
//myLogLevel = ArLog::Verbose;
//myLogLevel = ArLog::Terse;
myLogLevel = ArLog::Normal;
setMinDistBetweenCurrent(0);
setMaxDistToKeepCumulative(4000);
setMinDistBetweenCumulative(200);
setMaxSecondsToKeepCumulative(30);
setMaxInsertDistCumulative(3000);
setCumulativeCleanDist(75);
setCumulativeCleanInterval(1000);
setCumulativeCleanOffset(600);
resetLastCumulativeCleanTime();
setCurrentDrawingData(
//new ArDrawingData("polyDots", ArColor(255, 204, 153), 75, // mm diameter of dots
new ArDrawingData("polyDots", ArColor(255,102,0), 75, // mm diameter of dots
76), // layer above sonar
true);
setCumulativeDrawingData(
new ArDrawingData("polyDots", ArColor(255,153,0), 95, // mm diameter of dots
61), // layer below current range devices
true);
}