| [37] | 1 | /*********************************************************************
|
|---|
| 2 | // created: 2014-02-01 - 12:08
|
|---|
| 3 | // filename: SickComponent.cpp
|
|---|
| 4 | //
|
|---|
| 5 | // author: Cyril Fougeray
|
|---|
| 6 | // Copyright Heudiasyc UMR UTC/CNRS 6599
|
|---|
| 7 | //
|
|---|
| 8 | // version: $Id: $
|
|---|
| 9 | //
|
|---|
| 10 | // purpose: The acquisition component of the Sick sensors (parent class)
|
|---|
| 11 | //
|
|---|
| 12 | *********************************************************************/
|
|---|
| 13 |
|
|---|
| 14 | #include "SickComponent.h"
|
|---|
| 15 |
|
|---|
| 16 | //#include "AlascaDataGenerator.h"
|
|---|
| 17 | #include "SickSocket.h"
|
|---|
| 18 | #include "Pacpus/kernel/ComponentFactory.h"
|
|---|
| 19 | #include "Pacpus/kernel/DbiteException.h"
|
|---|
| 20 | #include "Pacpus/kernel/DbiteFileTypes.h"
|
|---|
| 21 | #include "Pacpus/kernel/Log.h"
|
|---|
| 22 | #include "Pacpus/PacpusTools/ShMem.h"
|
|---|
| 23 |
|
|---|
| 24 | #include <iostream>
|
|---|
| 25 | #include <QTcpSocket>
|
|---|
| 26 | #include <string>
|
|---|
| 27 |
|
|---|
| 28 | using namespace std;
|
|---|
| 29 |
|
|---|
| 30 |
|
|---|
| 31 | namespace pacpus {
|
|---|
| 32 |
|
|---|
| 33 | DECLARE_STATIC_LOGGER("pacpus.base.SickComponent");
|
|---|
| 34 |
|
|---|
| 35 | // Construct the factory
|
|---|
| 36 | static ComponentFactory<SickComponent> sFactory("SickComponent");
|
|---|
| 37 |
|
|---|
| 38 |
|
|---|
| 39 | SickComponent::SickComponent(QString name)
|
|---|
| 40 | : ComponentBase(name)
|
|---|
| 41 | {
|
|---|
| 42 | LOG_TRACE("constructor(" << name << ")");
|
|---|
| 43 |
|
|---|
| 44 | S_sensors = new std::vector<AbstractSickSensor*>();
|
|---|
| 45 | }
|
|---|
| 46 |
|
|---|
| 47 | SickComponent::~SickComponent()
|
|---|
| 48 | {
|
|---|
| 49 | LOG_TRACE("destructor");
|
|---|
| 50 | }
|
|---|
| 51 |
|
|---|
| [42] | 52 |
|
|---|
| [37] | 53 | void SickComponent::startActivity()
|
|---|
| 54 | {
|
|---|
| 55 | for(std::vector<AbstractSickSensor*>::iterator it = S_sensors->begin(); it != S_sensors->end(); ++it){
|
|---|
| 56 | (*it)->startActivity();
|
|---|
| 57 | }
|
|---|
| 58 | }
|
|---|
| 59 |
|
|---|
| [42] | 60 |
|
|---|
| [37] | 61 | void SickComponent::stopActivity()
|
|---|
| 62 | {
|
|---|
| 63 | for(std::vector<AbstractSickSensor*>::iterator it = S_sensors->begin(); it != S_sensors->end(); ++it){
|
|---|
| 64 | (*it)->stopActivity();
|
|---|
| 65 | }
|
|---|
| 66 | }
|
|---|
| 67 |
|
|---|
| [42] | 68 |
|
|---|
| [37] | 69 | ComponentBase::COMPONENT_CONFIGURATION SickComponent::configureComponent(XmlComponentConfig config)
|
|---|
| 70 | {
|
|---|
| 71 | /*
|
|---|
| [42] | 72 | * <Sick sickldmrs_0="192.168.0.1:2111" sicklms151_0="192.168.0.10:2111" sicklms511_0="192.168.1.50:2111">
|
|---|
| [37] | 73 | */
|
|---|
| [42] | 74 | // Sick LD-MRS
|
|---|
| [37] | 75 | int num = 0;
|
|---|
| 76 | while (param.getProperty("sickldmrs_"+QString::number(num)) != QString::null){
|
|---|
| 77 | QString information = param.getProperty("sickldmrs_"+QString::number(num));
|
|---|
| 78 | QStringList list = information.split(":");
|
|---|
| 79 | int recording = 0;
|
|---|
| 80 | if (param.getProperty("sickldmrs_"+QString::number(num)+"_recording") != QString::null)
|
|---|
| 81 | {
|
|---|
| 82 | recording = param.getProperty("sickldmrs_"+QString::number(num)+"_recording").toInt();
|
|---|
| 83 | }
|
|---|
| 84 |
|
|---|
| 85 | S_sensors->push_back(new SickLDMRSSensor(this, "sickldmrs_"+QString::number(num), list.at(0), list.at(1).toInt(), recording));
|
|---|
| 86 | ++num;
|
|---|
| 87 | }
|
|---|
| 88 |
|
|---|
| [42] | 89 | // Sick LMS 151
|
|---|
| [37] | 90 | num = 0;
|
|---|
| 91 | while (param.getProperty("sicklms151_"+QString::number(num)) != QString::null){
|
|---|
| 92 | QString information = param.getProperty("sicklms151_"+QString::number(num));
|
|---|
| 93 | QStringList list = information.split(":");
|
|---|
| 94 | int recording = 0;
|
|---|
| 95 | if (param.getProperty("sicklms151_"+QString::number(num)+"_recording") != QString::null)
|
|---|
| 96 | {
|
|---|
| 97 | recording = param.getProperty("sicklms151_"+QString::number(num)+"_recording").toInt();
|
|---|
| 98 | }
|
|---|
| 99 |
|
|---|
| 100 | S_sensors->push_back(new SickLMSSensor(this, "sicklms151_"+QString::number(num), list.at(0), list.at(1).toInt(), recording));
|
|---|
| 101 | ++num;
|
|---|
| 102 | }
|
|---|
| 103 |
|
|---|
| [42] | 104 | // Sick LMS 511
|
|---|
| [37] | 105 | num = 0;
|
|---|
| 106 | while (param.getProperty("sicklms511_"+QString::number(num)) != QString::null){
|
|---|
| 107 | QString information = param.getProperty("sicklms511_"+QString::number(num));
|
|---|
| 108 | QStringList list = information.split(":");
|
|---|
| 109 | int recording = 0;
|
|---|
| 110 | if (param.getProperty("sicklms511_"+QString::number(num)+"_recording") != QString::null)
|
|---|
| 111 | {
|
|---|
| 112 | recording = param.getProperty("sicklms511_"+QString::number(num)+"_recording").toInt();
|
|---|
| 113 | }
|
|---|
| 114 |
|
|---|
| 115 | S_sensors->push_back(new SickLMSSensor(this, "sicklms511_"+QString::number(num), list.at(0), list.at(1).toInt(), recording));
|
|---|
| 116 | ++num;
|
|---|
| 117 | }
|
|---|
| 118 |
|
|---|
| 119 | return ComponentBase::CONFIGURED_OK;
|
|---|
| 120 | }
|
|---|
| 121 |
|
|---|
| 122 |
|
|---|
| 123 | } // namespace pacpus
|
|---|
