[3] | 1 | // %flair:license{
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| 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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| 4 | // %flair:license}
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| 5 |
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| 6 | // created: 2013/08/23
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| 7 | // filename: HokuyoUTM30Lx.cpp
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| 8 | //
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| 9 | // author: Cesar Richard
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| 10 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 11 | //
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| 12 | // version: $Id: $
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| 13 | //
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| 14 | // purpose: classe intégrant le telemetre laser Hokuyo UTM 30lx
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| 15 | //
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| 16 | //
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| 17 | /*********************************************************************/
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| 18 |
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| 19 | #include "HokuyoUTM30Lx.h"
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| 20 | #include <SerialPort.h>
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| 21 | #include <FrameworkManager.h>
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| 22 | #include <RangeFinderPlot.h>
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| 23 | #include <cvmatrix.h>
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| 24 | #include <Tab.h>
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| 25 | #include <sstream>
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| 26 | #include <iomanip>
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| 27 | #include <string.h>
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| 28 | #include <iostream>
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| 29 |
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| 30 | using namespace std;
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| 31 | using namespace flair::core;
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| 32 | using namespace flair::gui;
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| 33 |
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| 34 | namespace flair
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| 35 | {
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| 36 | namespace sensor
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| 37 | {
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| 38 |
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| 39 | HokuyoUTM30Lx::HokuyoUTM30Lx(const FrameworkManager* parent,string name,SerialPort *serialport,uint8_t priority) : LaserRangeFinder(parent,name), Thread(parent,name,priority)
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| 40 | {
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| 41 | main_tab=new Tab(parent->GetTabWidget(),name);
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| 42 | cvmatrix_descriptor* desc=new cvmatrix_descriptor(1081,1);
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| 43 | output=new cvmatrix((IODevice*)this,desc,SignedIntegerType(16));
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| 44 |
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| 45 | bufRetMut = new Mutex(reinterpret_cast<Object*>(this),(string)name+"BufRetMut");
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| 46 | sendingCmdMut = new Mutex(reinterpret_cast<Object*>(this),(string)name+"SendingCmdMut");
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| 47 |
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| 48 | this->serialport=serialport;
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| 49 | serialport->SetRxTimeout(100000000);
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| 50 | }
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| 51 |
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| 52 | HokuyoUTM30Lx::~HokuyoUTM30Lx()
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| 53 | {
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| 54 | delete main_tab;
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| 55 | SafeStop();
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| 56 | Join();
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| 57 | }
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| 58 |
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| 59 | void HokuyoUTM30Lx::Run(void)
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| 60 | {
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| 61 | /** Debut init **/
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| 62 | char c,lastC;
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| 63 | int startStep;
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| 64 | bool mustDecode=false;
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| 65 | stringstream ss;
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| 66 | vector<string> ret;
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| 67 | lastC=c=0;
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| 68 |
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| 69 | /** Fin init **/
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| 70 | resetConfig();
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| 71 | startLaser();
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| 72 | Printf("Laser started\r\n");
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| 73 |
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| 74 | /** Debut running loop **/
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| 75 | WarnUponSwitches(true);
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| 76 |
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| 77 | while(!ToBeStopped())
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| 78 | {
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| 79 | ss.clear();
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| 80 | ss.str("");
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| 81 | do{
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| 82 | lastC=c;
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| 83 | serialport->Read(&c,1);
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| 84 | ss << c;
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| 85 | }while(!(c=='\n'&&lastC=='\n'));
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| 86 | ret=explode(ss.str(),'\n');
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| 87 | if(!checkSum(ret.at(1)))
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| 88 | perror("Bad Checksum !");
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| 89 | if(ret.at(0).substr(0,2)=="MD")
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| 90 | mustDecode=true;
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| 91 |
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| 92 | startStep=atoi(ret.at(0).substr(2,4).c_str());
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| 93 | ret.erase(ret.begin());
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| 94 | bufRetMut->GetMutex();
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| 95 | bufRet.push(ret.at(0).substr(0,2));
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| 96 | bufRetMut->ReleaseMutex();
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| 97 | if(mustDecode){
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| 98 | mustDecode=false;
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| 99 | ss.clear();
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| 100 | ss.str("");
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| 101 | do{
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| 102 | lastC=c;
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| 103 | serialport->Read(&c,1);
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| 104 | ss << c;
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| 105 | }while(!(c=='\n'&&lastC=='\n'));
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| 106 | ret=explode(ss.str(),'\n');
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| 107 | ret.erase(ret.begin());
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| 108 | ret.erase(ret.begin());
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| 109 | if(ret.at(0).size()==5)
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| 110 | if(!checkSum(ret.at(0)))
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| 111 | perror("TimeStamp checksum error!");
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| 112 | ret.erase(ret.begin());
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| 113 | Printf("!post\r\n");
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| 114 | ret.pop_back();
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| 115 | decodeDatas(ret, startStep);
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| 116 | }
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| 117 | }
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| 118 | /** fin running loop **/
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| 119 | stopLaser();
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| 120 | WarnUponSwitches(false);
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| 121 | }
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| 122 |
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| 123 |
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| 124 | void HokuyoUTM30Lx::decodeDatas(vector<string> datas, int startStep){
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| 125 | stringstream ss;
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| 126 | for (unsigned i=0; i<datas.size(); i++){
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| 127 | if(datas.at(i).size()!=0){
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| 128 | if(!checkSum(datas.at(i)))
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| 129 | perror("Datas checksum error !");
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| 130 | datas.at(i).erase(datas.at(i).end()-1);
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| 131 | ss << datas.at(i);
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| 132 | }
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| 133 | }
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| 134 | output->GetMutex();
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| 135 | for(unsigned i=0;i<1080;i++){
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| 136 | //TODO: remettre -1 pour les points non lus
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| 137 | output->SetValueNoMutex(i,0,0);
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| 138 | }
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| 139 | for(unsigned i=0;i<ss.str().size();i+=3){
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| 140 | output->SetValueNoMutex(startStep+(i/3),0,decode3car(ss.str().substr(i,3).c_str()));
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| 141 | }
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| 142 | UpdateFrom(output);
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| 143 | ProcessUpdate(output);
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| 144 | output->ReleaseMutex();
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| 145 |
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| 146 | }
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| 147 |
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| 148 | bool HokuyoUTM30Lx::checkSum(string data){
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| 149 | return (char)encodeSum(data.substr(0,data.size()-1).c_str(),data.size()-1)==data.at(data.size()-1);
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| 150 | }
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| 151 |
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| 152 | void HokuyoUTM30Lx::startLaser(){
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| 153 | string ret = sendCommand("BM");
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| 154 | #ifdef VERBOSE
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| 155 | if(ret == "00"){
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| 156 | cout << "BM: Alright !" << endl;
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| 157 | }else if(ret == "01"){
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| 158 | cout << "BM: Laser malfunction !" << endl;
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| 159 | }else if(ret == "02"){
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| 160 | cout << "BM: Laser already started !" << endl;
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| 161 | }
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| 162 | #endif
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| 163 | }
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| 164 |
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| 165 | void HokuyoUTM30Lx::stopLaser(){
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| 166 | sendCommand("QT");
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| 167 | }
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| 168 |
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| 169 | void HokuyoUTM30Lx::resetConfig(){
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| 170 | sendCommand("RS");
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| 171 | }
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| 172 |
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| 173 | vector<string> HokuyoUTM30Lx::explode(const string str, char delimiter){
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| 174 | istringstream split(str);
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| 175 | vector<string> tokens;
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| 176 | for (string each; getline(split, each, delimiter); tokens.push_back(each));
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| 177 | return tokens;
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| 178 | }
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| 179 |
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| 180 | int HokuyoUTM30Lx::encodeSum(const char* code, int byte) {
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| 181 | unsigned char value = 0;
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| 182 | int i;
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| 183 | for (i = 0; i < byte; ++i) {
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| 184 | value+=code[i];
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| 185 | }
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| 186 | value &= 0x3f;
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| 187 | value += 0x30;
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| 188 | return value;
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| 189 | }
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| 190 |
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| 191 | float HokuyoUTM30Lx::decode2car(const char* data){
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| 192 | return ((data[0]-0x30)<<6)|((data[1]-0x30));
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| 193 | }
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| 194 | float HokuyoUTM30Lx::decode3car(const char* data){
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| 195 | return ((data[0]-0x30)<<12)|((data[1]-0x30)<<6)|((data[2]-0x30));
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| 196 | }
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| 197 | float HokuyoUTM30Lx::decode4car(const char* data){
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| 198 | return ((data[0]-0x30)<<18)|((data[1]-0x30)<<12)|((data[2]-0x30)<<6)|((data[3]-0x30));
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| 199 | }
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| 200 |
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| 201 | string HokuyoUTM30Lx::sendCommand(string command){
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| 202 | char c;
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| 203 | string ret="00";
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| 204 | c='\n';
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| 205 | sendingCmdMut->GetMutex();
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| 206 | serialport->Write(command.c_str(),command.size());
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| 207 | serialport->Write(&c,1);
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| 208 | sendingCmdMut->ReleaseMutex();
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| 209 | return ret;
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| 210 | }
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| 211 |
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| 212 | void HokuyoUTM30Lx::getMesure(int startStep, int endStep,int clusterCount, int interval, int scanNumber){
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| 213 | stringstream ss;
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| 214 | string ret;
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| 215 | ss << "MD" << std::setfill('0') << std::setw(4) << startStep << std::setw(4) << endStep << std::setw(2) << clusterCount << std::setw(1) << interval << std::setw(2) << scanNumber;
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| 216 | ret = sendCommand(ss.str());
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| 217 | #ifdef VERBOSE
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| 218 | if(ret == "00"){
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| 219 | cout << "MD: Alright !" << endl;
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| 220 | }else if(ret == "01"){
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| 221 | cout << "MD: Laser malfunction !" << endl;
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| 222 | }else if(ret == "02"){
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| 223 | cout << "MD: End Step has non-numeric value !" << endl;
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| 224 | }else if(ret == "03"){
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| 225 | cout << "MD: Cluster Count has non-numeric value !" << endl;
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| 226 | }else if(ret == "04"){
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| 227 | cout << "MD: End Step is out of range !" << endl;
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| 228 | }else if(ret == "05"){
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| 229 | cout << "MD: End Step is smaller than Starting Step !" << endl;
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| 230 | }else if(ret == "06"){
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| 231 | cout << "MD: Scan Interval has non-numeric value !" << endl;
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| 232 | }else if(ret == "07"){
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| 233 | cout << "MD: Number of Scan has non-numeric value !" << endl;
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| 234 | }else if(ret == "98"){
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| 235 | cout << "MD: Resumption of process after confirming normal HokuyoUTM30Lx operation." << endl;
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| 236 | }else{
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| 237 | /* Concerne :
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| 238 | 21~49 --- Processing stopped to verify the error.
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| 239 | 50~97 --- Hardware trouble (such as laser, motor malfunctions etc.)*/
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| 240 | cout << "MD: Malfunction !" << endl;
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| 241 | }
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| 242 | #endif
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| 243 | }
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| 244 | cvmatrix* HokuyoUTM30Lx::getDatas(){
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| 245 | return output;
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| 246 | }
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| 247 |
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| 248 | void HokuyoUTM30Lx::UseDefaultPlot(void)
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| 249 | {
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| 250 | plot=new RangeFinderPlot(main_tab->NewRow(),"plot","x",-100,100,"y",-0,100,output,-45,225,output->Rows());
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| 251 | }
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| 252 |
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| 253 | } // end namespace sensor
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| 254 | } // end namespace framewor
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