ArLMS2xx Class Reference

#include <ArLMS2xx.h>

Inheritance diagram for ArLMS2xx:

List of all members.

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Detailed Description

Interface to a SICK LMS-200 laser range device.

This class processes incoming data from a SICK LMS-200 laser rangefinding device in a background thread, and provides it through the standard ArRangeDevice API, to be used via ArRobot (see ArRobot::addRangeDevice()), used by an ArAction, or used directly.

An ArSick instance must be connected to the laser through a serial port (or simulator): the typical procedure is to allow your ArSimpleConnector to configure the laser based on the robot connection type and command line parameters; then initiate the ArSick background thread; and finally connect ArSick to the laser device. For example:

  ArRobot robot;
  ArSick laser;
  ArSimpleConnector connector(...);
  ...
   Setup the simple connector and connect to the robot --
   see the example programs.
  ...
  connector.setupLaser(&laser);
  laser.runAsync();
  if(!laser.blockingConnect())
  {
    // Error...
    ...
  }
  ...

The most important methods in this class are the constructor, runAsync(), blockingConnect(), getSensorPosition(), isConnected(), addConnectCB(), asyncConnect(), configure(), in addition to the ArRangeDevice interface.

Note:

The "extra int" on the raw readings returned by ArRangeDevice::getRawReadings() is like other laser devices and is the reflectance value, if enabled, ranging between 0 and 255.

Public Member Functions
	ArLMS2xx (int laserNumber, const char *name="lms2xx", bool appendLaserNumberToName=true)
	Constructor.
bool	asyncConnect (void)
	Connect to the laser asyncronously.
virtual bool	blockingConnect (void)
	Connect to the laser while blocking.
virtual bool	disconnect (void)
	Disconnect from the laser.
virtual bool	isConnected (void)
	Sees if this is connected to the laser.
virtual bool	isTryingToConnect (void)
virtual void *	runThread (void *arg)
virtual void	setDeviceConnection (ArDeviceConnection *conn)
	Sets the device connection.
virtual void	setRobot (ArRobot *robot)
virtual	~ArLMS2xx ()
	Destructor.
Protected Types
enum	State {   STATE_NONE, STATE_INIT, STATE_WAIT_FOR_POWER_ON, STATE_CHANGE_BAUD,   STATE_CONFIGURE, STATE_WAIT_FOR_CONFIGURE_ACK, STATE_INSTALL_MODE, STATE_WAIT_FOR_INSTALL_MODE_ACK,   STATE_SET_MODE, STATE_WAIT_FOR_SET_MODE_ACK, STATE_START_READINGS, STATE_WAIT_FOR_START_ACK,   STATE_CONNECTED }
Protected Member Functions
void	dropConnection (void)
void	failedConnect (void)
bool	finishParams (void)
int	internalConnectHandler (void)
	An internal function, single loop event to connect to laser.
bool	internalConnectSim (void)
bool	internalRunOnRobot (void)
	internal function to runOnRobot so that ArSick can do that while this class won't
virtual bool	laserCheckParams (void)
virtual void	laserSetName (const char *name)
void	madeConnection (void)
void	processPacket (ArLMS2xxPacket *packet, ArPose pose, ArPose encoderPose, unsigned int counter, bool deinterlace, ArPose deinterlaceDelta)
void	runOnce (bool lockRobot)
void	sensorInterpCallback (void)
bool	sickGetIsUsingSim (void)
	Internal function that gets whether the laser is simulated or not (just for the old ArSick).
void	sickSetIsUsingSim (bool usingSim)
	Internal function that sets whether the laser is simulated or not (just for the old ArSick).
bool	simPacketHandler (ArRobotPacket *packet)
void	switchState (State state)
	Internal function for switching states.
Protected Attributes
ArRetFunctorC< bool, ArLMS2xx >	myAriaExitCB
std::list< ArSensorReading * > *	myAssembleReadings
std::list< ArSensorReading * > *	myCurrentReadings
double	myIncrementAmount
bool	myInterlaced
bool	myInterpolation
std::list< ArSensorReading * >::iterator	myIter
ArLMS2xxPacketReceiver	myLMS2xxPacketReceiver
int	myNumReflectorBits
double	myOffsetAmount
ArLMS2xxPacket	myPacket
std::list< ArLMS2xxPacket * >	myPackets
bool	myProcessImmediately
ArFunctorC< ArLMS2xx >	myRobotConnectCB
bool	myRunInOwnThread
bool	myRunningOnRobot
ArFunctorC< ArLMS2xx >	mySensorInterpCB
unsigned int	mySimPacketCounter
ArTransform	mySimPacketEncoderTrans
ArRetFunctor1C< bool, ArLMS2xx, ArRobotPacket * >	mySimPacketHandler
ArPose	mySimPacketStart
ArTransform	mySimPacketTrans
bool	myStartConnect
State	myState
ArMutex	myStateMutex
ArTime	myStateStart
unsigned int	myTotalNumReadings
bool	myUseSim
unsigned int	myWhichReading

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Member Enumeration Documentation

enum ArLMS2xx::State [protected]

Enumerator:

STATE_NONE	Nothing, haven't tried to connect or anything.
STATE_INIT	Initializing the laser.
STATE_WAIT_FOR_POWER_ON	Waiting for power on.
STATE_CHANGE_BAUD	Change the baud, no confirm here.
STATE_CONFIGURE	Send the width and increment to the laser.
STATE_WAIT_FOR_CONFIGURE_ACK	Wait for the configuration Ack.
STATE_INSTALL_MODE	Switch to install mode.
STATE_WAIT_FOR_INSTALL_MODE_ACK	Wait until its switched to install mode.
STATE_SET_MODE	Set the mode (mm/cm) and extra field bits.
STATE_WAIT_FOR_SET_MODE_ACK	Waiting for set-mode ack.
STATE_START_READINGS	Switch to monitoring mode.
STATE_WAIT_FOR_START_ACK	Waiting for the switch-mode ack.
STATE_CONNECTED	We're connected and getting readings.

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Member Function Documentation

bool ArLMS2xx::finishParams

(

void

)

[protected]

Finishes getting the unset parameters from the robot then setting some internal variables that need it

virtual void* ArLMS2xx::runThread

(

void *

arg

)

[virtual]

The internal function used by the ArRangeDeviceThreaded

Implements ArRangeDeviceThreaded.

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

• ArLMS2xx.h

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