| 1 | /*********************************************************************
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| 2 | // created: 2014-02-01 - 12:08
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| 3 | // filename: SickComponent.cpp
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| 4 | //
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| 5 | // author: Cyril Fougeray
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| 6 | // Copyright Heudiasyc UMR UTC/CNRS 6599
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| 7 | //
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| 8 | // version: $Id: $
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| 9 | //
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| 10 | // purpose: The acquisition component of the Sick sensors (parent class)
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| 11 | //
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| 12 | *********************************************************************/
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| 13 |
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| 14 | #include "SickComponent.h"
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| 15 |
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| 16 | //#include "AlascaDataGenerator.h"
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| 17 | #include "SickSocket.h"
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| 18 | #include "Pacpus/kernel/ComponentFactory.h"
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| 19 | #include "Pacpus/kernel/DbiteException.h"
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| 20 | #include "Pacpus/kernel/DbiteFileTypes.h"
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| 21 | #include "Pacpus/kernel/Log.h"
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| 22 | #include "Pacpus/PacpusTools/ShMem.h"
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| 23 |
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| 24 | #include <iostream>
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| 25 | #include <QTcpSocket>
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| 26 | #include <string>
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| 27 |
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| 28 | using namespace std;
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| 29 |
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| 30 |
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| 31 | namespace pacpus {
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| 32 |
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| 33 | DECLARE_STATIC_LOGGER("pacpus.base.SickComponent");
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| 34 |
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| 35 | // Construct the factory
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| 36 | static ComponentFactory<SickComponent> sFactory("SickComponent");
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| 37 |
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| 38 |
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| 39 | //////////////////////////////////////////////////////////////////////////
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| 40 | /// Constructor.
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| 41 | SickComponent::SickComponent(QString name)
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| 42 | : ComponentBase(name)
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| 43 | {
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| 44 | LOG_TRACE("constructor(" << name << ")");
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| 45 |
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| 46 | S_sensors = new std::vector<AbstractSickSensor*>();
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| 47 | }
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| 48 |
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| 49 | //////////////////////////////////////////////////////////////////////////
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| 50 | /// Destructor.
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| 51 | SickComponent::~SickComponent()
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| 52 | {
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| 53 | LOG_TRACE("destructor");
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| 54 | }
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| 55 |
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| 56 | //////////////////////////////////////////////////////////////////////////
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| 57 | /// Called by the ComponentManager to start the component
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| 58 | void SickComponent::startActivity()
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| 59 | {
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| 60 | for(std::vector<AbstractSickSensor*>::iterator it = S_sensors->begin(); it != S_sensors->end(); ++it){
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| 61 | (*it)->startActivity();
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| 62 | }
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| 63 | }
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| 64 |
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| 65 | //////////////////////////////////////////////////////////////////////////
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| 66 | /// Called by the ComponentManager to stop the component
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| 67 | void SickComponent::stopActivity()
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| 68 | {
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| 69 | for(std::vector<AbstractSickSensor*>::iterator it = S_sensors->begin(); it != S_sensors->end(); ++it){
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| 70 | (*it)->stopActivity();
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| 71 | }
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| 72 | }
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| 73 |
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| 74 | //////////////////////////////////////////////////////////////////////////
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| 75 | /// Called by the ComponentManager to pass the XML parameters to the
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| 76 | /// component
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| 77 | ComponentBase::COMPONENT_CONFIGURATION SickComponent::configureComponent(XmlComponentConfig config)
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| 78 | {
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| 79 | /*
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| 80 | * <SickComponent sickldmrs_1="192.168.0.1:1202" >
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| 81 | */
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| 82 | /// Sick LD-MRS
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| 83 | int num = 0;
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| 84 | while (param.getProperty("sickldmrs_"+QString::number(num)) != QString::null){
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| 85 | QString information = param.getProperty("sickldmrs_"+QString::number(num));
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| 86 | QStringList list = information.split(":");
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| 87 | int recording = 0;
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| 88 | if (param.getProperty("sickldmrs_"+QString::number(num)+"_recording") != QString::null)
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| 89 | {
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| 90 | recording = param.getProperty("sickldmrs_"+QString::number(num)+"_recording").toInt();
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| 91 | }
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| 92 |
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| 93 | S_sensors->push_back(new SickLDMRSSensor(this, "sickldmrs_"+QString::number(num), list.at(0), list.at(1).toInt(), recording));
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| 94 | ++num;
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| 95 | }
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| 96 |
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| 97 | /// Sick LMS 151
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| 98 | num = 0;
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| 99 | while (param.getProperty("sicklms151_"+QString::number(num)) != QString::null){
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| 100 | QString information = param.getProperty("sicklms151_"+QString::number(num));
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| 101 | QStringList list = information.split(":");
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| 102 | int recording = 0;
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| 103 | if (param.getProperty("sicklms151_"+QString::number(num)+"_recording") != QString::null)
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| 104 | {
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| 105 | recording = param.getProperty("sicklms151_"+QString::number(num)+"_recording").toInt();
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| 106 | }
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| 107 |
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| 108 | S_sensors->push_back(new SickLMSSensor(this, "sicklms151_"+QString::number(num), list.at(0), list.at(1).toInt(), recording));
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| 109 | ++num;
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| 110 | }
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| 111 |
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| 112 | num = 0;
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| 113 | while (param.getProperty("sicklms511_"+QString::number(num)) != QString::null){
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| 114 | QString information = param.getProperty("sicklms511_"+QString::number(num));
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| 115 | QStringList list = information.split(":");
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| 116 | int recording = 0;
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| 117 | if (param.getProperty("sicklms511_"+QString::number(num)+"_recording") != QString::null)
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| 118 | {
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| 119 | recording = param.getProperty("sicklms511_"+QString::number(num)+"_recording").toInt();
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| 120 | }
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| 121 |
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| 122 | S_sensors->push_back(new SickLMSSensor(this, "sicklms511_"+QString::number(num), list.at(0), list.at(1).toInt(), recording));
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| 123 | ++num;
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| 124 | }
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| 125 |
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| 126 | return ComponentBase::CONFIGURED_OK;
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| 127 | }
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| 128 |
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| 129 |
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| 130 | } // namespace pacpus
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