Handles all Laser scanners. More...

#include <laserThread.h>

Collaboration diagram for LaserThread:

Public Slots
void	saveLaserData ()
void	setMeasureMode (bool state)
void	setSimulationMode (bool state)

Signals
void	laserDataCompleteFront (QList< float > laserScannerValuesFront, QList< int > laserScannerFlagsFront)
void	laserDataCompleteRear (QList< float > laserScannerValuesRear, QList< int > laserScannerFlagsRear)
void	message (QString text)
void	sendNetworkString (QString text)
void	systemerror (int errorlevel)

Public Member Functions
int	getAngle (short int laserScanner)
int	getFlag (short int laserScanner, int angle)
float	getResolution (short int laserScanner)
float	getValue (short int laserScanner, int angle)
bool	isConnected (short int laserScanner)
	LaserThread ()
virtual void	run ()
void	setAngle (short int laserScanner, int angle)
void	setFlag (short int laserScanner, int angle, int flag)
void	setMounting (short int laserScanner, QString mounting)
void	setResolution (short int laserScanner, float resolution)
void	setSerialPort (short int laserScanner, QString serialPort)
void	setType (short int laserScanner, QString laserType)
void	stop ()
	~LaserThread ()

Private Member Functions
void	getAndStoreLaserValuesFront ()
void	getAndStoreLaserValuesRear ()
bool	readSimulationValues ()

Private Attributes
Inifile *	inifile1
Inifile *	inifileLaserdata
SickS300 *	laserS300
	this values holds the resolution of the laserscanner. e.g. 0.5 degrees
int	laserscannerAngleFront
	cane be "normal" or "flipped"
int	laserscannerAngleRear
	this values holds the range of the laserscanner viewing angle. e.g. 180 or 270 degrees
QList< int >	laserScannerFlagsFront
	The measured distances from the rear laser scanner. This method also flippes the values when the laser is mounted flipped!
QList< int >	laserScannerFlagsRear
	Some flags for each front laser line (like "free way", "obstacle" etc.)
bool	laserScannerFrontIsConnected
bool	laserScannerRearIsConnected
float	laserscannerResolutionFront
	this values holds the range of the laserscanner viewing angle. e.g. 180 or 270 degrees
float	laserscannerResolutionRear
	this values holds the resolution of the laserscanner. e.g. 0.5 degrees
unsigned char	laserscannerTypeFront
unsigned char	laserscannerTypeRear
QList< float >	laserScannerValuesFront
QList< float >	laserScannerValuesRear
	The measured distances from the front laser scanner. This method also flippes the values when the laser is mounted flipped!
bool	measureMode
QString	mountingLaserscannerFront
QString	mountingLaserscannerRear
	cane be "normal" or "flipped"
int	numReadingsFront
int	numReadingsRear
bool	simulationMode
QList< float >	simulationValuesFront
	Some flags for each rear laser line (like "free way", "obstacle" etc.)
QList< float >	simulationValuesRear
	The simulated distances for the front laser scanner.
volatile bool	stopped
	Reads the laser line simulation values and sets these as currrent 'real' laser values.

Static Private Attributes
static const int	FREEWAY = 0
static const unsigned char	HOKUYO_URG = 2
static const short int	LASER1 = 1
	The simulated distances for the rear laser scanner.
static const short int	LASER2 = 2
static const short int	LASER3 = 4
static const short int	LASER4 = 8
static const short int	LASER5 = 16
static const unsigned char	LMS = 0
static const short int	MAXERRORS = 2
static const unsigned char	NONE = 255
static const int	OBSTACLE = 1
static const unsigned char	PLS = 1
static const unsigned char	S300 = 4
static const unsigned char	SIMULATED_LASER = 3
static const unsigned long	THREADSLEEPTIME = 50

Detailed Description

Handles all Laser scanners.

Author:: Markus Knapp It checks, if they are connected, accesses them and emits all read data via Signal. It also provides a simulation mode.

Definition at line 35 of file laserThread.h.

Constructor & Destructor Documentation

LaserThread::LaserThread ( )

Definition at line 24 of file laserThread.cpp.

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LaserThread::~LaserThread ( )

Definition at line 48 of file laserThread.cpp.

Member Function Documentation

void LaserThread::getAndStoreLaserValuesFront ( )

private

Definition at line 154 of file laserThread.cpp.

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void LaserThread::getAndStoreLaserValuesRear ( )

private

Todo:: use one common getAndStoreLaserValue method!

Todo:: add S300 stuff

Definition at line 228 of file laserThread.cpp.

int LaserThread::getAngle ( short int laserScanner )

Returns the physical angle of the laserscanner in degrees, e.g. 180 or 270.

Parameters:

laserScanner can be LASER1 or LASER2

Returns:: the angle in degrees

Definition at line 574 of file laserThread.cpp.

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int LaserThread::getFlag	(	short int	laserScanner,
		int	angle
	)

Parameters:

laserScanner	can be LASER1 or LASER2
angle	is the wanted angle in degrees

Returns:: the laser scanner line flag (the flag shows if there is an obstacle at this line or not)

Definition at line 263 of file laserThread.cpp.

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float LaserThread::getResolution ( short int laserScanner )

Returns the physical resolution of the laserscanner in degrees, e.g. 1.0 or 0.5.

Parameters:

laserScanner can be LASER1 or LASER2

Returns:: the resolution in degrees

Definition at line 591 of file laserThread.cpp.

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float LaserThread::getValue	(	short int	laserScanner,
		int	angle
	)

Returns:: the (last) measuread value (distance) in meters(!)

Definition at line 237 of file laserThread.cpp.

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bool LaserThread::isConnected ( short int laserScanner )

Returns the state of a connected laser scanner. This method also does some init stuff for all the important mebers like the QList (laser values etc.).

Parameters:

laserScanner can be LASER1 or LASER2

Returns:: true, if connected

Todo:: Support two S300 scanners

Todo:: S300 stuff

Definition at line 608 of file laserThread.cpp.

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void LaserThread::laserDataCompleteFront	(	QList< float >	laserScannerValuesFront,
		QList< int >	laserScannerFlagsFront
	)

signal

Emits a list containing all front laser values (distances) and their flags.

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void LaserThread::laserDataCompleteRear	(	QList< float >	laserScannerValuesRear,
		QList< int >	laserScannerFlagsRear
	)

signal

Emits a list containing all rear laser values (distances) and their flags.

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void LaserThread::message ( QString text )

signal

Emits a info or error message to a slot. This slot can be used to display a text on a splash screen, log file, to print it to a console...

Parameters:

text	is the message to be emitted

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bool LaserThread::readSimulationValues ( )

private

Todo:: use one common getAndStoreLaserValue method!

Definition at line 727 of file laserThread.cpp.

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void LaserThread::run ( )

virtual

Todo:: add support for 2 lasers...

Definition at line 73 of file laserThread.cpp.

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void LaserThread::saveLaserData ( )

slot

Saves the current laser line simulation values to disk (.sim file). Resulting filename will look like direcs-YYYY_MM_DD__HH_MM_SS.sim

Todo:: Stop laser thread here for saving the values or is a mutex lock for the QList okay or are QLists able to handle this?

Definition at line 776 of file laserThread.cpp.

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void LaserThread::sendNetworkString ( QString text )

signal

Sends a string over the network.

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void LaserThread::setAngle	(	short int	laserScanner,
		int	angle
	)

Defines the angle of the laserscanner e.g. 180 or 270 degrees.

Parameters:

laserScanner	can be LASER1 or LASER2
angle	is the angle

Definition at line 536 of file laserThread.cpp.

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void LaserThread::setFlag	(	short int	laserScanner,
		int	angle,
		int	flag
	)

This method sets the a flag for each laser line (angle) which represents a free way, an obstackle etc.

Parameters:

laserScanner	can be LASER1 or LASER2
angle	is the angle in degrees
flag	can be FREEWAY, OBSTACLE, LARGESTFREEWAY or CENTEROFLARGESTFREEWAY.

See also:: ObstacleCheckThread

Definition at line 289 of file laserThread.cpp.

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void LaserThread::setMeasureMode ( bool state )

slot

This slot sets the measure mode. If activated one can walk around the laser, and the lessest value will only be stored. With this one can set a new alarm distance by walking around the robot.

Definition at line 411 of file laserThread.cpp.

void LaserThread::setMounting	(	short int	laserScanner,
		QString	mounting
	)

Sets the mounting for a laser scanner to flip the data for example from 0-179 to 179-0, when the laser scanner is mounted flipped.

Parameters:

laserScanner	can be LASER1 or LASER2
mounting	can be "normal" or "flipped"

See also:: setDevicePort, read_parameters, laser.h

Definition at line 460 of file laserThread.cpp.

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void LaserThread::setResolution	(	short int	laserScanner,
		float	resolution
	)

Defines the resolution of the laserscanner e.g. 0.5 or 1.0 degrees.

Parameters:

laserScanner	can be LASER1 or LASER2
resolution	can be 0.5 or 1.00 degree

Definition at line 555 of file laserThread.cpp.

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void LaserThread::setSerialPort	(	short int	laserScanner,
		QString	serialPort
	)

Sets the serial port for a laser scanner.

Parameters:

laserScanner	can be LASER1 or LASER2
serialPort	is the port of the laser scanner

See also:: setDevicePort, read_parameters, laser.h

Todo:: support two S300 lasers

Definition at line 418 of file laserThread.cpp.

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void LaserThread::setSimulationMode ( bool state )

slot

This slot enables or disables the simulation mode.

Definition at line 315 of file laserThread.cpp.

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void LaserThread::setType	(	short int	laserScanner,
		QString	laserType
	)

Sets the type of the laser

Parameters:

laserScanner	can be LASER1 or LASER2
laserType	can be S300

Definition at line 477 of file laserThread.cpp.

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void LaserThread::stop ( )

Definition at line 65 of file laserThread.cpp.

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void LaserThread::systemerror ( int errorlevel )

signal

Emits a emergency signal for letting other modules know that we have a massive sensor error. So in that case an emergency stop or so could be initiated.

Parameters:

errorlevel needs to be defined. Temporariliy we use -1 in case of error.

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Member Data Documentation

const int LaserThread::FREEWAY = 0

staticprivate

Definition at line 236 of file laserThread.h.

const unsigned char LaserThread::HOKUYO_URG = 2

staticprivate

Definition at line 206 of file laserThread.h.

Inifile* LaserThread::inifile1

private

Definition at line 196 of file laserThread.h.

Inifile* LaserThread::inifileLaserdata

private

Definition at line 197 of file laserThread.h.

const short int LaserThread::LASER1 = 1

staticprivate

The simulated distances for the rear laser scanner.

The names for addressing the laser scanner array For the integrated DIRECS laser module

Definition at line 229 of file laserThread.h.

const short int LaserThread::LASER2 = 2

staticprivate

Definition at line 230 of file laserThread.h.

const short int LaserThread::LASER3 = 4

staticprivate

Definition at line 231 of file laserThread.h.

const short int LaserThread::LASER4 = 8

staticprivate

Definition at line 232 of file laserThread.h.

const short int LaserThread::LASER5 = 16

staticprivate

Definition at line 233 of file laserThread.h.

SickS300* LaserThread::laserS300

private

this values holds the resolution of the laserscanner. e.g. 0.5 degrees

Definition at line 195 of file laserThread.h.

int LaserThread::laserscannerAngleFront

private

cane be "normal" or "flipped"

Definition at line 190 of file laserThread.h.

int LaserThread::laserscannerAngleRear

private

this values holds the range of the laserscanner viewing angle. e.g. 180 or 270 degrees

Definition at line 191 of file laserThread.h.

QList<int> LaserThread::laserScannerFlagsFront

private

The measured distances from the rear laser scanner. This method also flippes the values when the laser is mounted flipped!

Definition at line 214 of file laserThread.h.

QList<int> LaserThread::laserScannerFlagsRear

private

Some flags for each front laser line (like "free way", "obstacle" etc.)

Definition at line 215 of file laserThread.h.

bool LaserThread::laserScannerFrontIsConnected

private

Definition at line 182 of file laserThread.h.

bool LaserThread::laserScannerRearIsConnected

private

Definition at line 183 of file laserThread.h.

float LaserThread::laserscannerResolutionFront

private

this values holds the range of the laserscanner viewing angle. e.g. 180 or 270 degrees

Definition at line 192 of file laserThread.h.

float LaserThread::laserscannerResolutionRear

private

this values holds the resolution of the laserscanner. e.g. 0.5 degrees

Definition at line 193 of file laserThread.h.

unsigned char LaserThread::laserscannerTypeFront

private

Definition at line 180 of file laserThread.h.

unsigned char LaserThread::laserscannerTypeRear

private

Definition at line 181 of file laserThread.h.

QList<float> LaserThread::laserScannerValuesFront

private

Definition at line 211 of file laserThread.h.

QList<float> LaserThread::laserScannerValuesRear

private

The measured distances from the front laser scanner. This method also flippes the values when the laser is mounted flipped!

Definition at line 212 of file laserThread.h.

const unsigned char LaserThread::LMS = 0

staticprivate

Definition at line 204 of file laserThread.h.

const short int LaserThread::MAXERRORS = 2

staticprivate

Nuber of tries reading from laser scanner. In case of error, we send the Signal systemerror, which lets the robot stop. In case of good reading, we decrease the errorcounter by one to zero.

Definition at line 243 of file laserThread.h.

bool LaserThread::measureMode

private

Definition at line 187 of file laserThread.h.

QString LaserThread::mountingLaserscannerFront

private

Definition at line 188 of file laserThread.h.

QString LaserThread::mountingLaserscannerRear

private

cane be "normal" or "flipped"

Definition at line 189 of file laserThread.h.

const unsigned char LaserThread::NONE = 255

staticprivate

Definition at line 209 of file laserThread.h.

int LaserThread::numReadingsFront

private

Definition at line 184 of file laserThread.h.

int LaserThread::numReadingsRear

private

Definition at line 185 of file laserThread.h.

const int LaserThread::OBSTACLE = 1

staticprivate

Definition at line 237 of file laserThread.h.

const unsigned char LaserThread::PLS = 1

staticprivate

Definition at line 205 of file laserThread.h.

const unsigned char LaserThread::S300 = 4

staticprivate

Definition at line 208 of file laserThread.h.

const unsigned char LaserThread::SIMULATED_LASER = 3

staticprivate

Definition at line 207 of file laserThread.h.

bool LaserThread::simulationMode

private

Definition at line 186 of file laserThread.h.

QList<float> LaserThread::simulationValuesFront

private

Some flags for each rear laser line (like "free way", "obstacle" etc.)

Definition at line 217 of file laserThread.h.

QList<float> LaserThread::simulationValuesRear

private

The simulated distances for the front laser scanner.

Definition at line 218 of file laserThread.h.

volatile bool LaserThread::stopped

private

Reads the laser line simulation values and sets these as currrent 'real' laser values.

Definition at line 179 of file laserThread.h.

const unsigned long LaserThread::THREADSLEEPTIME = 50

staticprivate

Definition at line 201 of file laserThread.h.

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

direcs/src/laserThread.h
direcs/src/laserThread.cpp

Public Slots

Signals

Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation