source: flair-src/trunk/lib/FlairSensorActuator/src/HokuyoUTM30Lx.cpp@ 318

Last change on this file since 318 was 318, checked in by Sanahuja Guillaume, 3 years ago
File size: 7.1 KB
Line 
1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5
6// created: 2013/08/23
7// filename: HokuyoUTM30Lx.cpp
8//
9// author: Cesar Richard
10// Copyright Heudiasyc UMR UTC/CNRS 7253
11//
12// version: $Id: $
13//
14// purpose: classe intégrant le telemetre laser Hokuyo UTM 30lx
15//
16//
17/*********************************************************************/
18
19#include "HokuyoUTM30Lx.h"
20#include <SerialPort.h>
21#include <FrameworkManager.h>
22#include <RangeFinderPlot.h>
23#include <Matrix.h>
24#include <Tab.h>
25#include <sstream>
26#include <iomanip>
27#include <string.h>
28#include <iostream>
29
30using namespace std;
31using namespace flair::core;
32using namespace flair::gui;
33
34namespace flair {
35namespace sensor {
36
37HokuyoUTM30Lx::HokuyoUTM30Lx(string name,
38 SerialPort *serialport, uint8_t priority)
39 : LaserRangeFinder(name), Thread(getFrameworkManager(), name, priority) {
40 main_tab = new Tab(getFrameworkManager()->GetTabWidget(), name);
41 MatrixDescriptor *desc = new MatrixDescriptor(1081, 1);
42 output = new Matrix((IODevice *)this, desc, SignedIntegerType(16));
43 delete desc;
44
45 bufRetMut =
46 new Mutex(reinterpret_cast<Object *>(this), (string)name + "BufRetMut");
47 sendingCmdMut = new Mutex(reinterpret_cast<Object *>(this),
48 (string)name + "SendingCmdMut");
49
50 this->serialport = serialport;
51 serialport->SetRxTimeout(100000000);
52
53 SetIsReady(true);
54}
55
56HokuyoUTM30Lx::~HokuyoUTM30Lx() {
57 delete main_tab;
58 SafeStop();
59 Join();
60}
61
62void HokuyoUTM30Lx::Run(void) {
63 /** Debut init **/
64 char c, lastC;
65 int startStep;
66 bool mustDecode = false;
67 stringstream ss;
68 vector<string> ret;
69 lastC = c = 0;
70
71 /** Fin init **/
72 resetConfig();
73 startLaser();
74 Printf("Laser started\r\n");
75
76 /** Debut running loop **/
77 WarnUponSwitches(true);
78
79 while (!ToBeStopped()) {
80 ss.clear();
81 ss.str("");
82 do {
83 lastC = c;
84 serialport->Read(&c, 1);
85 ss << c;
86 } while (!(c == '\n' && lastC == '\n'));
87 ret = explode(ss.str(), '\n');
88 if (!checkSum(ret.at(1)))
89 perror("Bad Checksum !");
90 if (ret.at(0).substr(0, 2) == "MD")
91 mustDecode = true;
92
93 startStep = atoi(ret.at(0).substr(2, 4).c_str());
94 ret.erase(ret.begin());
95 bufRetMut->GetMutex();
96 bufRet.push(ret.at(0).substr(0, 2));
97 bufRetMut->ReleaseMutex();
98 if (mustDecode) {
99 mustDecode = false;
100 ss.clear();
101 ss.str("");
102 do {
103 lastC = c;
104 serialport->Read(&c, 1);
105 ss << c;
106 } while (!(c == '\n' && lastC == '\n'));
107 ret = explode(ss.str(), '\n');
108 ret.erase(ret.begin());
109 ret.erase(ret.begin());
110 if (ret.at(0).size() == 5)
111 if (!checkSum(ret.at(0)))
112 perror("TimeStamp checksum error!");
113 ret.erase(ret.begin());
114 Printf("!post\r\n");
115 ret.pop_back();
116 decodeDatas(ret, startStep);
117 }
118 }
119 /** fin running loop **/
120 stopLaser();
121 WarnUponSwitches(false);
122}
123
124void HokuyoUTM30Lx::decodeDatas(vector<string> datas, int startStep) {
125 stringstream ss;
126 for (unsigned i = 0; i < datas.size(); i++) {
127 if (datas.at(i).size() != 0) {
128 if (!checkSum(datas.at(i)))
129 perror("Datas checksum error !");
130 datas.at(i).erase(datas.at(i).end() - 1);
131 ss << datas.at(i);
132 }
133 }
134 output->GetMutex();
135 for (unsigned i = 0; i < 1080; i++) {
136 // TODO: remettre -1 pour les points non lus
137 output->SetValueNoMutex(i, 0, 0);
138 }
139 for (unsigned i = 0; i < ss.str().size(); i += 3) {
140 output->SetValueNoMutex(startStep + (i / 3), 0,
141 decode3car(ss.str().substr(i, 3).c_str()));
142 }
143 UpdateFrom(output);
144 ProcessUpdate(output);
145 output->ReleaseMutex();
146}
147
148bool HokuyoUTM30Lx::checkSum(string data) {
149 return (char)encodeSum(data.substr(0, data.size() - 1).c_str(),
150 data.size() - 1) == data.at(data.size() - 1);
151}
152
153void HokuyoUTM30Lx::startLaser() {
154 string ret = sendCommand("BM");
155#ifdef VERBOSE
156 if (ret == "00") {
157 cout << "BM: Alright !" << endl;
158 } else if (ret == "01") {
159 cout << "BM: Laser malfunction !" << endl;
160 } else if (ret == "02") {
161 cout << "BM: Laser already started !" << endl;
162 }
163#endif
164}
165
166void HokuyoUTM30Lx::stopLaser() { sendCommand("QT"); }
167
168void HokuyoUTM30Lx::resetConfig() { sendCommand("RS"); }
169
170vector<string> HokuyoUTM30Lx::explode(const string str, char delimiter) {
171 istringstream split(str);
172 vector<string> tokens;
173 for (string each; getline(split, each, delimiter); tokens.push_back(each))
174 ;
175 return tokens;
176}
177
178int HokuyoUTM30Lx::encodeSum(const char *code, int byte) {
179 unsigned char value = 0;
180 int i;
181 for (i = 0; i < byte; ++i) {
182 value += code[i];
183 }
184 value &= 0x3f;
185 value += 0x30;
186 return value;
187}
188
189float HokuyoUTM30Lx::decode2car(const char *data) {
190 return ((data[0] - 0x30) << 6) | ((data[1] - 0x30));
191}
192float HokuyoUTM30Lx::decode3car(const char *data) {
193 return ((data[0] - 0x30) << 12) | ((data[1] - 0x30) << 6) |
194 ((data[2] - 0x30));
195}
196float HokuyoUTM30Lx::decode4car(const char *data) {
197 return ((data[0] - 0x30) << 18) | ((data[1] - 0x30) << 12) |
198 ((data[2] - 0x30) << 6) | ((data[3] - 0x30));
199}
200
201string HokuyoUTM30Lx::sendCommand(string command) {
202 char c;
203 string ret = "00";
204 c = '\n';
205 sendingCmdMut->GetMutex();
206 serialport->Write(command.c_str(), command.size());
207 serialport->Write(&c, 1);
208 sendingCmdMut->ReleaseMutex();
209 return ret;
210}
211
212void HokuyoUTM30Lx::getMesure(int startStep, int endStep, int clusterCount,
213 int interval, int scanNumber) {
214 stringstream ss;
215 string ret;
216 ss << "MD" << std::setfill('0') << std::setw(4) << startStep << std::setw(4)
217 << endStep << std::setw(2) << clusterCount << std::setw(1) << interval
218 << std::setw(2) << scanNumber;
219 ret = sendCommand(ss.str());
220#ifdef VERBOSE
221 if (ret == "00") {
222 cout << "MD: Alright !" << endl;
223 } else if (ret == "01") {
224 cout << "MD: Laser malfunction !" << endl;
225 } else if (ret == "02") {
226 cout << "MD: End Step has non-numeric value !" << endl;
227 } else if (ret == "03") {
228 cout << "MD: Cluster Count has non-numeric value !" << endl;
229 } else if (ret == "04") {
230 cout << "MD: End Step is out of range !" << endl;
231 } else if (ret == "05") {
232 cout << "MD: End Step is smaller than Starting Step !" << endl;
233 } else if (ret == "06") {
234 cout << "MD: Scan Interval has non-numeric value !" << endl;
235 } else if (ret == "07") {
236 cout << "MD: Number of Scan has non-numeric value !" << endl;
237 } else if (ret == "98") {
238 cout << "MD: Resumption of process after confirming normal HokuyoUTM30Lx "
239 "operation." << endl;
240 } else {
241 /* Concerne :
242 21~49 --- Processing stopped to verify the error.
243 50~97 --- Hardware trouble (such as laser, motor malfunctions etc.)*/
244 cout << "MD: Malfunction !" << endl;
245 }
246#endif
247}
248Matrix *HokuyoUTM30Lx::getDatas() { return output; }
249
250void HokuyoUTM30Lx::UseDefaultPlot(void) {
251 plot = new RangeFinderPlot(main_tab->NewRow(), "plot", "x", -100, 100, "y",
252 -0, 100, output, -45, 225, output->Rows());
253}
254
255} // end namespace sensor
256} // end namespace flair
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