MipResources::URG04LXmm Class Reference
[Range sensor]

represents a URG04LX range sensor More...

#include <URG04LXmm.h>

Inheritance diagram for MipResources::URG04LXmm:

List of all members.

Public Member Functions
	URG04LXmm (int argc, const char *argv[])
	Default constructor.
	URG04LXmm (int argc, const char *argv[], SenderUDP *sender)
	IP communication constructor.
	~URG04LXmm ()
	Destructor.
ResourcePlate	getPlate () const
	getPlate.
void	setWaitNextScanTimeusecs (int t)
void	setSender (SenderUDP *sender)
	Set the _sender.
void	setWait ()
	set _wait flag
void	setIsContinuos ()
	set _isContinuos flag
void	setEchoMatch ()
	set _echoMatch flag
void	setStatusMatch ()
	set _statusMatch flag
void	setTStampAcq ()
	set _tStampAcq flag
void	setScanComplete ()
	set _scanComplete flag
void	setCheckLine ()
	set _checkLine flag
void	setWorkDone ()
	set _workDone flag
void	setVerboseOn ()
	set _verboseOn flag
void	setLog ()
	set _log flag
void	unsetWait ()
	unset _wait flag
void	unsetIsContinuos ()
	unset _isContinuos flag
void	unsetEchoMatch ()
	unset _echoMatch flag
void	unsetStatusMatch ()
	unset _statusMatch flag
void	unsetTStampAcq ()
	unset _tStampAcq flag
void	unsetScanComplete ()
	unset _scanComplete flag
void	unsetCheckLine ()
	unset _checkLine flag
void	unsetWorkDone ()
	unset _workDone flag
void	unsetVerboseOn ()
	unset _verboseOn flag
void	unsetLog ()
	unset _log flag
int	totRays ()
	return _totRays
int	totScans ()
	return _totScans
bool	wait ()
	return _wait flag
bool	isContinuos ()
	return _isContinuos flag
bool	echoMatch ()
	return _echoMatch flag
bool	statusMatch ()
	return _statusMatch flag
bool	tStampAcq ()
	return _tStampAcq flag
bool	scanComplete ()
	return _scanComplete flag
bool	checkLine ()
	return _checkLine flag
bool	workDone ()
	return _workDone flag
bool	verboseOn ()
	return _verboseOn flag
bool	log ()
	return _log flag
bool	updatedScan (Scan &s)
	get a new scan
Scan	_singleScan ()
	get last stored scan
void	mySingleScan ()
	get a scan without return
void	_startScan (unsigned int num)
	start the continuous scanning
void	_stopScan ()
	stop the continuous scanning
void	defFSM ()
	perform a FSM for scanning operations
Public Attributes
Timer	_FSMtimer
scanWorkState	SWstate
FSMSstates	_state
	Instance of FSMSstatesmm enum.
Scan	_myScan
bool	_canDraw
URG04LXmmPar *	_URGpar
	Instance of URG04LXmmPar object.
URG04LXmmConst	_URGConst
	Instance of URGConst object.
URG04LXmmInfo *	_URGinfo
	Instance of URG04LXmmInfo object.
URG04LXmmCommand *	_cmd
	Instance of URG04LXmmCommand object.
Protected Member Functions
void	parse2bytes (ExtString _currentLine)
	parse data 2-bytes-encoded
void	parse3bytes (ExtString &_currentLine)
	Parse data 3-bytes-encoded.
void	updateInfo ()
	Update info by quering sensor.
bool	buildMultiScan (ExtString &command)
	Build appropriate multi-scan command.
bool	buildSingleScan (ExtString &command)
	Build appropriate single-scan command.
int	readData (ExtString command, ExtString &rbuf, int how)
	Reading data function.
int	readData (ExtString command, int how)
	Reading data function.
void	changeMotor (int value)
	Set sensor's motor speed at value specified by.
void	changeBuad (int value)
	Set sensor's baud rate (RS232) at value specified by.
Protected Attributes
ExtString	_strCmd
	ExtString containig scan command*/.
ExtString	_answer
	ExtString containig sensor's answer as received from sensor*/.
char *	_answerBuf
	ExtString containig sensor's answer as received from sensor*/.
char *	_answerBufptr
	ExtString containig sensor's answer as received from sensor*/.
int	_answerBufSize
bool	_badScan
ExtString	_temporary
	ExtString containig sensor's answer and that will be processed*/.
Thread	_scanThread
	thread that manage the continuous scanning */
unsigned int	_expectedLines
	expected complete data lines*/
unsigned int	_expectedChars
	expected chars not belonging to a complete data line*/
unsigned int	_expectedBytes
	expected bytes in data response*/
unsigned int	_alreadyRead
	bytes in a readData call*/
unsigned int	_expectedRays
	expected rays of scan*/
unsigned int	_parsedLines
	number of parsed lines*/
ExtString	_parsingBits
	bytes not parsed by parse3bytes*/
ExtString	_prevTStamp
	ExtString containing previous scan time stamp*/.
Raymms	_tempRays
	temporary rays container*/
Time	_tStamp
	time stamp container*/
unsigned int	_totRays
	total rays created*/
unsigned int	_totScans
	total performed scans*/
unsigned int	_lfcount
	number of line feed found consecutively in response*/
unsigned int	_readAttempts
	number of reading attempts without response*/
unsigned int	_remainingScans
	number scan still to perform*/
bool	_wait
	flag set if next state is a waiting state*/
bool	_isContinuos
	flag set if was sent a MS-MD command*/
bool	_echoMatch
	flag set if echo matching was performed*/
bool	_statusMatch
	flag set if status matching was performed*/
bool	_tStampAcq
	flag set if time stamp acquisition matching was performed*/
bool	_checkLine
	flag set if received data format is correct*/
bool	_scanComplete
	flag set if a scan has been completed*/
bool	_workDone
bool	_verboseOn
	flag set for verbose mode on*/
bool	_log
	flag set for log mode on*/
Time	_readDataTime
	deadline for data reading*/
Time	_waitNextScan
	deadline for next scan acquisition (depends on data encoding)*/
Time	_FSMperiod
	deadline for scan FSM*/
Time	_waitEchoMatch
	deadline for correct response after a multiple scan request*/
Timer	_waitedScan
	waited time for next scan acquisition*/
Timer	_waitedEcho
	waited time for correct response*/
int	_waitNextScanTimeusecs
ofstream	_logFile
	stream for log mode*/
SenderUDP *	_sender
bool	_sendScan
char	_sendingBuffer [10000]
int	_printedBuffer

---

Detailed Description

represents a URG04LX range sensor

Main class of the file, it is the implementation of a URG04LX Range Sensor. It is composed by the above classes and several other attributes usuful for scan operations that are implemented here. Scan is performed by calling one (or more) of the mandatory methods but it is actually realized by scanFSM. The communication operations are rather different related to URG04LXmmCommand ones (see functions buildMultiScan, buildSingleScan, readData in URG04LX.cpp for more details). There are also some get and set functions for private attributes.

Note:

inherites from RangeSensmm class

Author:

Antonio Franchi and Marco Barbalinardo - email:barba82@yahoo.it

Date:

2008/11/07

Bug:

Scan may loose information if an error occurs

Todo:

mandatory methods do not work properly, group states of FSMdef in appropriate functions

---

Constructor & Destructor Documentation

MipResources::URG04LXmm::URG04LXmm	(	int	argc,
		const char *	argv[]
	)

Default constructor.

<sets the object that wil be passed to scanWork and scanClean

<sets the routine that must be called after startScan() is called

<sets the routine that must be called after stopScan() is called

<sets the slepping time of the continous scanning thread

MipResources::URG04LXmm::URG04LXmm	(	int	argc,
		const char *	argv[],
		SenderUDP *	sender
	)

IP communication constructor.

<sets the object that will be passed to scanWork and scanClean

<sets the routine that must be called after startScan() is called

<sets the routine that must be called after stopScan() is called

<sets the slepping time of the continous scanning thread

MipResources::URG04LXmm::~URG04LXmm

(

)

Destructor.

---

Member Function Documentation

void MipResources::URG04LXmm::parse2bytes

(

ExtString

_currentLine

)

[protected]

parse data 2-bytes-encoded

Parameters:

_currentLine

parsing is performed by lines

void MipResources::URG04LXmm::parse3bytes

(

ExtString &

_currentLine

)

[protected]

Parse data 3-bytes-encoded.

Parameters:

_currentLine

Parsing is performed by lines.

void MipResources::URG04LXmm::updateInfo

(

)

[protected]

Update info by quering sensor.

bool MipResources::URG04LXmm::buildMultiScan

(

ExtString &

command

)

[protected]

Build appropriate multi-scan command.

bool MipResources::URG04LXmm::buildSingleScan

(

ExtString &

command

)

[protected]

Build appropriate single-scan command.

int MipResources::URG04LXmm::readData	(	ExtString	command,
		ExtString &	rbuf,
		int	how
	)			[protected]

Reading data function.

int MipResources::URG04LXmm::readData	(	ExtString	command,
		int	how
	)			[protected]

Reading data function.

void MipResources::URG04LXmm::changeMotor

(

int

value

)

[protected]

Set sensor's motor speed at value specified by.

Parameters:

[in]	value	Setting speed.

void MipResources::URG04LXmm::changeBuad

(

int

value

)

[protected]

Set sensor's baud rate (RS232) at value specified by.

Parameters:

[in]	value	Setting baud rate.

ResourcePlate MipResources::URG04LXmm::getPlate

(

)

const [inline, virtual]

getPlate.

Implements MipResources::RangeSens.

void MipResources::URG04LXmm::setWaitNextScanTimeusecs

(

int

t

)

[inline]

void MipResources::URG04LXmm::setSender

(

SenderUDP *

sender

)

[inline]

Set the _sender.

void MipResources::URG04LXmm::setWait

(

)

[inline]

set _wait flag

void MipResources::URG04LXmm::setIsContinuos

(

)

[inline]

set _isContinuos flag

void MipResources::URG04LXmm::setEchoMatch

(

)

[inline]

set _echoMatch flag

void MipResources::URG04LXmm::setStatusMatch

(

)

[inline]

set _statusMatch flag

void MipResources::URG04LXmm::setTStampAcq

(

)

[inline]

set _tStampAcq flag

void MipResources::URG04LXmm::setScanComplete

(

)

[inline]

set _scanComplete flag

void MipResources::URG04LXmm::setCheckLine

(

)

[inline]

set _checkLine flag

void MipResources::URG04LXmm::setWorkDone

(

)

[inline]

set _workDone flag

void MipResources::URG04LXmm::setVerboseOn

(

)

[inline]

set _verboseOn flag

void MipResources::URG04LXmm::setLog

(

)

[inline]

set _log flag

void MipResources::URG04LXmm::unsetWait

(

)

[inline]

unset _wait flag

void MipResources::URG04LXmm::unsetIsContinuos

(

)

[inline]

unset _isContinuos flag

void MipResources::URG04LXmm::unsetEchoMatch

(

)

[inline]

unset _echoMatch flag

void MipResources::URG04LXmm::unsetStatusMatch

(

)

[inline]

unset _statusMatch flag

void MipResources::URG04LXmm::unsetTStampAcq

(

)

[inline]

unset _tStampAcq flag

void MipResources::URG04LXmm::unsetScanComplete

(

)

[inline]

unset _scanComplete flag

void MipResources::URG04LXmm::unsetCheckLine

(

)

[inline]

unset _checkLine flag

void MipResources::URG04LXmm::unsetWorkDone

(

)

[inline]

unset _workDone flag

void MipResources::URG04LXmm::unsetVerboseOn

(

)

[inline]

unset _verboseOn flag

void MipResources::URG04LXmm::unsetLog

(

)

[inline]

unset _log flag

int MipResources::URG04LXmm::totRays

(

)

[inline]

return _totRays

int MipResources::URG04LXmm::totScans

(

)

[inline]

return _totScans

bool MipResources::URG04LXmm::wait

(

)

[inline]

return _wait flag

bool MipResources::URG04LXmm::isContinuos

(

)

[inline]

return _isContinuos flag

bool MipResources::URG04LXmm::echoMatch

(

)

[inline]

return _echoMatch flag

bool MipResources::URG04LXmm::statusMatch

(

)

[inline]

return _statusMatch flag

bool MipResources::URG04LXmm::tStampAcq

(

)

[inline]

return _tStampAcq flag

bool MipResources::URG04LXmm::scanComplete

(

)

[inline]

return _scanComplete flag

bool MipResources::URG04LXmm::checkLine

(

)

[inline]

return _checkLine flag

bool MipResources::URG04LXmm::workDone

(

)

[inline]

return _workDone flag

bool MipResources::URG04LXmm::verboseOn

(

)

[inline]

return _verboseOn flag

bool MipResources::URG04LXmm::log

(

)

[inline]

return _log flag

bool MipResources::URG04LXmm::updatedScan

(

Scan &

s

)

get a new scan

Reimplemented from MipResources::RangeSens.

Scan MipResources::URG04LXmm::_singleScan

(

)

[virtual]

get last stored scan

get a scan

Implements MipResources::RangeSens.

void MipResources::URG04LXmm::mySingleScan

(

)

[inline]

get a scan without return

void MipResources::URG04LXmm::_startScan

(

unsigned int

num

)

[virtual]

start the continuous scanning

Parameters:

num

number of scan to perform, (0 means unbounded)

Implements MipResources::RangeSens.

void MipResources::URG04LXmm::_stopScan

(

)

[virtual]

stop the continuous scanning

Implements MipResources::RangeSens.

void MipResources::URG04LXmm::defFSM

(

)

perform a FSM for scanning operations

---

Member Data Documentation

ExtString MipResources::URG04LXmm::_strCmd [protected]

ExtString containig scan command*/.

ExtString MipResources::URG04LXmm::_answer [protected]

ExtString containig sensor's answer as received from sensor*/.

char* MipResources::URG04LXmm::_answerBuf [protected]

ExtString containig sensor's answer as received from sensor*/.

char* MipResources::URG04LXmm::_answerBufptr [protected]

ExtString containig sensor's answer as received from sensor*/.

int MipResources::URG04LXmm::_answerBufSize [protected]

bool MipResources::URG04LXmm::_badScan [protected]

ExtString MipResources::URG04LXmm::_temporary [protected]

ExtString containig sensor's answer and that will be processed*/.

Thread MipResources::URG04LXmm::_scanThread [protected]

thread that manage the continuous scanning */

unsigned int MipResources::URG04LXmm::_expectedLines [protected]

expected complete data lines*/

unsigned int MipResources::URG04LXmm::_expectedChars [protected]

expected chars not belonging to a complete data line*/

unsigned int MipResources::URG04LXmm::_expectedBytes [protected]

expected bytes in data response*/

unsigned int MipResources::URG04LXmm::_alreadyRead [protected]

bytes in a readData call*/

unsigned int MipResources::URG04LXmm::_expectedRays [protected]

expected rays of scan*/

unsigned int MipResources::URG04LXmm::_parsedLines [protected]

number of parsed lines*/

ExtString MipResources::URG04LXmm::_parsingBits [protected]

bytes not parsed by parse3bytes*/

ExtString MipResources::URG04LXmm::_prevTStamp [protected]

ExtString containing previous scan time stamp*/.

Raymms MipResources::URG04LXmm::_tempRays [protected]

temporary rays container*/

Time MipResources::URG04LXmm::_tStamp [protected]

time stamp container*/

unsigned int MipResources::URG04LXmm::_totRays [protected]

total rays created*/

unsigned int MipResources::URG04LXmm::_totScans [protected]

total performed scans*/

unsigned int MipResources::URG04LXmm::_lfcount [protected]

number of line feed found consecutively in response*/

unsigned int MipResources::URG04LXmm::_readAttempts [protected]

number of reading attempts without response*/

unsigned int MipResources::URG04LXmm::_remainingScans [protected]

number scan still to perform*/

bool MipResources::URG04LXmm::_wait [protected]

flag set if next state is a waiting state*/

bool MipResources::URG04LXmm::_isContinuos [protected]

flag set if was sent a MS-MD command*/

bool MipResources::URG04LXmm::_echoMatch [protected]

flag set if echo matching was performed*/

bool MipResources::URG04LXmm::_statusMatch [protected]

flag set if status matching was performed*/

bool MipResources::URG04LXmm::_tStampAcq [protected]

flag set if time stamp acquisition matching was performed*/

bool MipResources::URG04LXmm::_checkLine [protected]

flag set if received data format is correct*/

bool MipResources::URG04LXmm::_scanComplete [protected]

flag set if a scan has been completed*/

bool MipResources::URG04LXmm::_workDone [protected]

bool MipResources::URG04LXmm::_verboseOn [protected]

flag set for verbose mode on*/

bool MipResources::URG04LXmm::_log [protected]

flag set for log mode on*/

Time MipResources::URG04LXmm::_readDataTime [protected]

deadline for data reading*/

Time MipResources::URG04LXmm::_waitNextScan [protected]

deadline for next scan acquisition (depends on data encoding)*/

Time MipResources::URG04LXmm::_FSMperiod [protected]

deadline for scan FSM*/

Time MipResources::URG04LXmm::_waitEchoMatch [protected]

deadline for correct response after a multiple scan request*/

Timer MipResources::URG04LXmm::_waitedScan [protected]

waited time for next scan acquisition*/

Timer MipResources::URG04LXmm::_waitedEcho [protected]

waited time for correct response*/

int MipResources::URG04LXmm::_waitNextScanTimeusecs [protected]

ofstream MipResources::URG04LXmm::_logFile [protected]

stream for log mode*/

SenderUDP* MipResources::URG04LXmm::_sender [protected]

bool MipResources::URG04LXmm::_sendScan [protected]

char MipResources::URG04LXmm::_sendingBuffer[10000] [protected]

Todo:

In scan sending mode in URG04LXmm.h find a reasanable value for dimension of _sendingBuffer.

int MipResources::URG04LXmm::_printedBuffer [protected]

Timer MipResources::URG04LXmm::_FSMtimer

scanWorkState MipResources::URG04LXmm::SWstate

FSMSstates MipResources::URG04LXmm::_state

Instance of FSMSstatesmm enum.

Scan MipResources::URG04LXmm::_myScan

bool MipResources::URG04LXmm::_canDraw

URG04LXmmPar* MipResources::URG04LXmm::_URGpar

Instance of URG04LXmmPar object.

URG04LXmmConst MipResources::URG04LXmm::_URGConst

Instance of URGConst object.

URG04LXmmInfo* MipResources::URG04LXmm::_URGinfo

Instance of URG04LXmmInfo object.

URG04LXmmCommand* MipResources::URG04LXmm::_cmd

Instance of URG04LXmmCommand object.

---

The documentation for this class was generated from the following files:

• resources/RangeSens/URG04LXmm.h
• resources/RangeSens/URG04LXmm.cpp