[37] | 1 | /*********************************************************************
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| 2 | // created: 2014/02/11 - 10:48
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| 3 | // filename: SickLMSSensor.h
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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: Definition of the SickLMSSensor class
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| 11 | *********************************************************************/
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| 12 |
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| 13 | #ifndef SICKLMSSENSOR_H
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| 14 | #define SICKLMSSENSOR_H
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| 15 |
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| 16 | #include "Pacpus/kernel/ComponentBase.h"
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| 17 | #include "Pacpus/kernel/DbiteFile.h"
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| 18 |
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| 19 | #include "AbstractSickSensor.h"
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| 20 | #include "SickLMSData.h"
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| 21 |
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| 22 | #include <fstream>
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| 23 | #include <string>
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| 24 |
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| 25 | // Export macro for SickLMS DLL for Windows only
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| 26 | #ifdef WIN32
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| 27 | # ifdef SICKLMS_EXPORTS
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| 28 | // make DLL
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| 29 | # define SICKLMS_API __declspec(dllexport)
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| 30 | # else
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| 31 | // use DLL
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| 32 | # define SICKLMS_API __declspec(dllimport)
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| 33 | # endif
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| 34 | #else
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| 35 | // On other platforms, simply ignore this
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| 36 | # define SICKLMS_API
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| 37 | #endif
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| 38 |
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| 39 | class QEvent;
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| 40 |
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| 41 | namespace pacpus {
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| 42 |
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| 43 | class ShMem;
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| 44 | class SickComponent;
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| 45 |
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| 46 |
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| 47 | /// The class carrying Sick LMS message.
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| 48 | /** This class is used so that we can store every information sent by a Sick LMS sensor.
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| 49 | * First, the raw data is stored in \c body. Then, if the message is relevant, \c splitMessage is instanciated in order
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| 50 | * to parse easily information from the sensor.
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| 51 | * These data are then decoded and stored in the scanData structure.
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| 52 | */
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| 53 | class SICKLMS_API MessageLMS
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| 54 | {
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| 55 | public:
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| 56 | /// Constructor.
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| 57 | MessageLMS()
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| 58 | {
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| 59 | time = 0;
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| 60 | timerange = 0;
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| 61 | memset(&data,0,sizeof(data));
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| 62 | }
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| 63 |
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| 64 | /// Destructor.
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| 65 | ~MessageLMS(){}
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| 66 |
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| 67 | scanData data; //!< Every needed information about the scan (general info + scan points).
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| 68 |
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| 69 | long msgSize; //!< Size of the message
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| 70 |
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| 71 | std::vector<std::string>* splitMessage; //!< The message is split into an array of string in order to be processed easily.
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| 72 | char* body; //!< Raw data
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| 73 | road_time_t time; //!< Time when the first packet of the message is received.
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| 74 | road_timerange_t timerange; //!< Timerange : roughly, time between measurement of a point and the processing step (not implemented).
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| 75 | };
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| 76 |
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| 77 |
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| 78 | //! The class implenting receiving, decoding and storing process of Sick LMS data.
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| 79 | /**
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| 80 | * This class can be used as a particular thread to acquire data from Sick LDMRS sensors.
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| 81 | * The Ethernet interface is used to get data from the sensor. Thus, the goal of this class is to
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| 82 | * get packets and decode them. Also, it offers the possibility to store all relevant information in
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| 83 | * two files (.dbt and .utc).
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| 84 | * It can be managed by SickComponent objects.
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| 85 | */
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| 86 | class SickLMSSensor : public AbstractSickSensor
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| 87 | {
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| 88 | Q_OBJECT
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| 89 | public:
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| 90 | /// Constructor
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| 91 | SickLMSSensor(QObject *parent);
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| 92 |
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| 93 | /**
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| 94 | * @brief SickLMSSensor constructor.
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| 95 | * @param parent Basically, a SickComponent object.
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| 96 | * @param name Name of the sensor in order to write on .dbt and .utc files and to recognize every sensors used.
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| 97 | * @param ip The IP address of the remote Sick LMS sensor.
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| 98 | * @param port The port of the remote Sick LMS sensor.
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| 99 | * @param recording If \c true, data is recorded into dbt + utc files. Data is not recorded otherwise.
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| 100 | */
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| 101 | SickLMSSensor(QObject *parent, QString name, QString ip, int port, int recording);
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| 102 |
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| 103 | /// Destructor
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| 104 | ~SickLMSSensor();
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| 105 |
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| 106 | void run() {}
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| 107 |
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| 108 | void stopActivity(); /*!< To stop the processing thread. */
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| 109 | void startActivity(); /*!< To start the processing thread. */
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| 110 |
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| 111 | /**
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| 112 | * @brief reconstituteMessage reconstitute a complete message from received packets
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| 113 | * @param packet Raw data coming from the sensor.
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| 114 | * @param length Length of the raw data received.
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| 115 | * @param time Time of the last received data.
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| 116 | *
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| 117 | * A message starts with a <STX> (0x02 in ASCII) char and ends with <ETX> (0x03 in ASCII).
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| 118 | */
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| 119 | void reconstituteMessage(const char * packet, const int length, road_time_t time);
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| 120 |
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| 121 | // decoupe le message en scan
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| 122 | /**
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| 123 | * @brief processScanData Parse information and process every needed values.
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| 124 | * @param msg Carries a message. splitMessage field of MessageLMS must be filled.
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| 125 | * @return Not used for the moment.
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| 126 | */
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| 127 | int processScanData(MessageLMS *msg);
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| 128 |
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| 129 | /**
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| 130 | * @brief isMessageComplete find the <ETX> character (corresponding to the end of a message).
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| 131 | * @param packets Raw data.
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| 132 | * @param size Size of raw data.
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| 133 | * @return The index of the <ETX> character.
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| 134 | */
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| 135 | int isMessageComplete(const char* packets, unsigned int size);
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| 136 |
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| 137 | public Q_SLOTS:
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| 138 | //Fonction qui permet de trier les données reçues et de les enregistrer dans une structure point, puis dans un fichier binaire .dbt
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| 139 | void customEvent(QEvent * e);
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| 140 | void configure();
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| 141 |
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| 142 | public:
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| 143 | SickSocket * S_socket; //on déclare pointeur de socket
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| 144 | // SickComponent * myParent;
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| 145 |
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| 146 | private:
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| 147 | // to recognize between several sensors
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| 148 | QString name_;
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| 149 |
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| 150 | // The SickLMS IP or hostname
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| 151 | QString ipaddr_;
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| 152 |
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| 153 | // The SickLMS port
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| 154 | int port_;
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| 155 |
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| 156 | bool recording_; // Enable storing in DBT
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| 157 |
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| 158 | scanCfg mainCfg;
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| 159 |
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| 160 | void storePendingBytes(road_time_t time);
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| 161 | void fillDataHeader(MessageLMS & msg);
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| 162 | void fillScanHeader(MessageLMS & msg);
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| 163 | void askScanCfg();
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| 164 |
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| 165 | int findSTX(const char* packets, const unsigned int size );
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| 166 | int splitMessage(MessageLMS* message);
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| 167 | long xstol(std::string str);
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| 168 |
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| 169 | std::string kSickMemoryName;
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| 170 | std::string kSickDbtFileName;
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| 171 | std::string kSickUtcFileName;
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| 172 |
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| 173 | std::list<MessageLMS> msgList;
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| 174 |
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| 175 | MessagePacket pendingBytes;
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| 176 |
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| 177 | // write the data on the disk in the dbt file and the associated binary file
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| 178 | void writeData(MessageLMS &msg);
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| 179 |
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| 180 | // SickLMS_dbt dbtData_;
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| 181 | pacpus::DbiteFile dbtFile_;
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| 182 | std::ofstream dataFile_;
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| 183 |
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| 184 | #ifdef SickLMS_SH_MEM
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| 185 | ShMem * shmem_;
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| 186 | SickLMS_shMem sickData;
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| 187 | #endif
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| 188 |
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| 189 | };
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| 190 |
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| 191 | } // namespace pacpus
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| 192 |
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| 193 | #endif // SICKLMSSENSOR_H
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