ArSonarMTX Class Reference

Receives sonar data from an MTX robot Use ArSonarConnector to establish the connection and create and initiate the ArSonarMTX thread. More...

#include <ArSonarMTX.h>

Inherits ArASyncTask.

Public Types
enum	Headers { HEADER1 =0xfa, HEADER2 =0xf5 }
Public Types inherited from ArThread
typedef std::map< ThreadType, ArThread * >	MapType
enum	Status {   STATUS_FAILED =1, STATUS_NORESOURCE, STATUS_NO_SUCH_THREAD, STATUS_INVALID,   STATUS_JOIN_SELF, STATUS_ALREADY_DETATCHED }
typedef pthread_t	ThreadType

Public Member Functions
void	addDisconnectOnErrorCB (ArFunctor *functor, int position=51)
	Adds a callback for when disconnection happens because of an error.
	ArSonarMTX (int sonarBoardNum=0, const char *name="MTXSonar", ArDeviceConnection *conn=NULL, ArRobot *robot=NULL)
	Constructor.
virtual bool	blockingConnect (bool sendTracking, bool recvTracking)
bool	checkLostConnection (void)
	check for lost connections More...
bool	disableForAutonomousDriving ()
virtual bool	disconnect (void)
void	disconnectOnError (void)
	disconnect
virtual bool	fakeConnect ()
	Connect used for debug replay.
int	getBoardDelay (void) const
	Board Delay.
int	getBoardDetectionThreshold (void) const
int	getBoardGain (void) const
int	getBoardMaxRange (void) const
int	getBoardNum (void)
bool	getBoardUseForAutonomousDriving (void) const
virtual double	getConnectionTimeoutSeconds (void)
	Gets the number of seconds without a response until connection assumed lost.
const char *	getDefaultPortType (void)
	Gets the default port type for the sonar.
const char *	getDefaultTcpPort (void)
	Gets the default port type for the sonar.
ArDeviceConnection *	getDeviceConnection (void)
	Gets the device this instance receives packets from.
int	getFirmwareVersion (void) const
ArTime	getLastReadingTime (void)
	Gets the time data was last receieved.
virtual const char *	getName (void) const
virtual const char *	getNameWithBoard (void) const
int	getNumConfiguredTransducers (void) const
	Number of Configured Transducers.
int	getNumTransducers (void) const
	Number of Transducers from board query.
ArRobotPacketReceiver *	getPacketReceiver (void)
	Very Internal call that gets the packet sender, shouldn't be used.
ArRobotPacketSender *	getPacketSender (void)
	Very Internal call that gets the packet sender, shouldn't be used.
int	getReadingCount (void)
	Gets the number of sonar readings received in the last second.
int	getUnitDetectionThres (int unit) const
int	getUnitGain (int unit) const
int	getUnitLastReading (int unit) const
int	getUnitMapping (int unit) const
int	getUnitTh (int unit) const
int	getUnitX (int unit) const
int	getUnitY (int unit) const
virtual void	internalGotReading (void)
virtual bool	isConnected (void)
virtual bool	isTryingToConnect (void)
virtual int	lockDevice ()
	Lock this device.
void	log (void)
	Logs the information about the sensor.
bool	queryFirmwareVersion ()
void	remDisconnectOnErrorCB (ArFunctor *functor)
	Removes a callback for when disconnection happens because of an error.
bool	requestFirmwareVersion ()
bool	sendAlive ()
bool	sendGetDelay ()
bool	sendGetGain (unsigned char transducerNumber)
bool	sendGetMask ()
bool	sendGetMaxRange (unsigned char transducerNumber)
bool	sendGetNumThresholdRanges ()
bool	sendGetThresholds (unsigned char transducerNumber)
bool	sendGetTransducerCount ()
bool	sendReset ()
bool	sendSetDelay (unsigned char delay)
bool	sendSetGain (unsigned char transducerNumber, unsigned char gain)
bool	sendSetMask (unsigned char maskLsb, unsigned char maskMsb)
bool	sendSetMaxRange (unsigned char transducerNumber, int echoSampleSize)
bool	sendSetThresholds (unsigned char transducerNumber, int thres)
bool	sendStart ()
bool	sendStop ()
virtual void	setConnectionTimeoutSeconds (double seconds)
	Sets the numter of seconds without a response until connection assumed lost.
void	setDeviceConnection (ArDeviceConnection *conn)
	Sets the device this instance receives packets from.
void	setInfoLogLevel (ArLog::LogLevel infoLogLevel)
virtual void	setRobot (ArRobot *robot)
	Sets the robot pointer, also attaches its process function to the robot as a Sensor Interpretation task. More...
virtual int	tryLockDevice ()
	Try to lock this device.
bool	turnOffTransducers ()
bool	turnOnTransducers ()
virtual int	unlockDevice ()
	Unlock this device.
bool	validateDelay ()
bool	validateGain ()
bool	validateMaxRange ()
bool	validateNumThresholdRanges ()
bool	validateThresholds ()
bool	validateTransducers ()
virtual	~ArSonarMTX ()
	Destructor.
Public Member Functions inherited from ArASyncTask
	ArASyncTask ()
	Constructor.
virtual int	create (bool joinable=true, bool lowerPriority=true)
	Create the task and start it going.
virtual const char *	getThreadActivity (void)
	Gets a string that describes what the thread is doing, or NULL if it doesn't know. More...
virtual void	run (void)
	Run without creating a new thread. More...
virtual void	runAsync (void)
	Run in its own thread.
virtual void *	runInThisThread (void *arg=0)
	Internal function used with system threading system to run the new thread. More...
virtual void	stopRunning (void)
	Stop the thread.
virtual	~ArASyncTask ()
	Destructor.
Public Member Functions inherited from ArThread
	ArThread (bool blockAllSignals=true)
	Constructor.
	ArThread (ThreadType thread, bool joinable, bool blockAllSignals=true)
	Constructor - starts the thread.
	ArThread (ArFunctor *func, bool joinable=true, bool blockAllSignals=true)
	Constructor - starts the thread.
virtual void	cancel (void)
	Cancel the thread.
virtual int	detach (void)
	Detatch the thread so it cant be joined.
bool	getBlockAllSignals (void)
	Do we block all process signals at startup?
virtual ArFunctor *	getFunc (void) const
	Get the functor that the thread runs.
virtual bool	getJoinable (void) const
	Get the joinable status of the thread.
virtual ThreadType	getOSThread (void) const
	Get the underlying os thread type.
pid_t	getPID (void)
virtual bool	getRunning (void) const
	Get the running status of the thread.
virtual bool	getRunningWithLock (void)
	Get the running status of the thread, locking around the variable.
virtual const ThreadType *	getThread (void) const
	Get the underlying thread type.
virtual const char *	getThreadName (void)
	Gets the name of the thread.
pid_t	getTID (void)
virtual bool	isThreadFinished () const
	Returns whether the thread has been completed and can be deleted. More...
virtual bool	isThreadStarted () const
	Returns whether the thread has been started. More...
virtual int	join (void **ret=NULL)
	Join on the thread.
int	lock (void)
	Lock the thread instance. More...
virtual void	logThreadInfo (void)
	Logs the information about this thread.
virtual void	setRunning (bool running)
	Set the running value on the thread.
virtual void	setThreadName (const char *name)
	Sets the name of the thread.
virtual void	threadFinished (void)
	Marks the thread as finished and logs useful debugging information. More...
virtual void	threadStarted (void)
	Marks the thread as started and logs useful debugging information. More...
int	tryLock (void)
	Try to lock the thread instance without blocking. More...
int	unlock (void)
	Unlock the thread instance. More...
virtual	~ArThread ()
	Destructor.

Protected Types
enum	Commands {   ALIVE =0x00, START_SCAN =0x01, STOP_SCAN =0x02, RESET =0x03,   TAKE_SELF_ECHO =0x04, GET_VERSION =0x10, GET_NUM_TRANDUCERS =0x11, GET_TRANSDUCER_MASK =0x12,   SET_TRANSDUCER_MASK =0x22, GET_SONAR_DELAY =0x13, SET_SONAR_DELAY =0x23, GET_ECHO_SAMPLE_SIZE =0x14,   SET_ECHO_SAMPLE_SIZE =0x24, GET_GAIN =0x17, SET_GAIN =0x27, NUM_THRESHOLD_RANGES =0x18,   GET_THRESHOLDS =0x19, SET_THRESHOLDS =0x29, GET_NOISE_DELTA =0x1A, SET_NOISE_DELTA =0x2A }
enum	Sizes { maxTransducers =16 }
enum	SonarInfo {   SONAR_IS_CONFIGURED, SONAR_MAPPING, SONAR_X, SONAR_Y,   SONAR_TH, SONAR_GAIN, SONAR_DETECTION_THRES, SONAR_MAX_RANGE,   SONAR_USE_FOR_AUTONOMOUS_DRIVING, SONAR_LAST_READING }

Protected Member Functions
void	clear (void)
void	failedToConnect (void)
virtual void *	runThread (void *arg)
void	sensorInterp (void)
virtual void	sonarSetName (const char *name)
Protected Member Functions inherited from ArThread
virtual int	doJoin (void **ret=NULL)

Protected Attributes
ArRetFunctorC< bool, ArSonarMTX >	myAriaExitCB
unsigned char	myAutonomousDrivingTransducerMaskLSB
unsigned char	myAutonomousDrivingTransducerMaskMSB
unsigned int	myBoardDelay
unsigned int	myBoardDetectionThreshold
unsigned int	myBoardGain
unsigned int	myBoardMaxRange
int	myBoardNum
bool	myBoardUseForAutonomousDriving
ArDeviceConnection *	myConn
ArMutex	myDataMutex
std::string	myDefaultPortType
std::string	myDefaultTcpPort
ArMutex	myDeviceMutex
ArCallbackList	myDisconnectOnErrorCBList
int	myFirmwareVersion
ArLog::LogLevel	myInfoLogLevel
bool	myIsConnected
ArTime	myLastReading
ArLog::LogLevel	myLogLevel
std::string	myName
char	myNameWithBoard [100]
int	myNumConfiguredTransducers
int	myNumTransducers
std::list< ArRobotPacket * >	myPackets
ArMutex	myPacketsMutex
ArTime	myPrevSensorIntTime
ArFunctorC< ArSonarMTX >	myProcessCB
int	myReadingCount
int	myReadingCurrentCount
ArRobotPacketReceiver *	myReceiver
bool	myRecvTracking
ArRobot *	myRobot
bool	myRobotRunningAndConnected
ArRobotPacketSender *	mySender
bool	mySendTracking
ArFunctorC< ArSonarMTX >	mySensorInterpTask
std::map< int, std::map< int, int > >	mySonarMap
bool	myStartConnect
time_t	myTimeLastReading
double	myTimeoutSeconds
unsigned char	myTransducerMaskLSB
unsigned char	myTransducerMaskMSB
bool	myTransducersAreOn
bool	myTryingToConnect
unsigned char	myVersion
bool	myWarnedAboutExtraSonar
Protected Attributes inherited from ArThread
bool	myBlockAllSignals
bool	myFinished
ArFunctor *	myFunc
bool	myJoinable
ArMutex	myMutex
std::string	myName
pid_t	myPID
bool	myRunning
	State variable to denote when the thread should continue or exit.
bool	myStarted
ArStrMap	myStrMap
ThreadType	myThread
pid_t	myTID

Additional Inherited Members
Static Public Member Functions inherited from ArThread
static void	cancelAll (void)
	Cancel all threads.
static ArLog::LogLevel	getLogLevel (void)
	Gets the logging level for thread information.
static ThreadType	getThisOSThread (void)
	Get the underlying os thread type of this thread.
static const ThreadType *	getThisThread (void)
	Get the underlying thread type of this thread.
static const char *	getThisThreadName (void)
	Gets the name of the this thread.
static void	init (void)
	Initialize the internal book keeping structures. More...
static void	joinAll (void)
	Join on all threads.
static ThreadType	osSelf (void)
	Returns the os self of the current thread. More...
static ArThread *	self (void)
	Returns the instance of your own thread (the current one) More...
static void	setLogLevel (ArLog::LogLevel level)
	Sets the logging level for thread information.
static void	shutdown ()
	Shuts down and deletes the last remaining thread; call after joinAll.
static void	stopAll ()
	Stop all threads.
static void	yieldProcessor (void)
	Yield the processor to another thread.
Static Protected Member Functions inherited from ArThread
static void	addThreadToMap (ThreadType pt, ArThread *at)
static ArThread *	findThreadInMap (ThreadType t)
static void	removeThreadFromMap (ThreadType t)
Static Protected Attributes inherited from ArThread
static ArLog::LogLevel	ourLogLevel = ArLog::Verbose
static MapType	ourThreads
static ArMutex	ourThreadsMutex
static std::string	ourUnknownThreadName = "unknown"

Detailed Description

Receives sonar data from an MTX robot Use ArSonarConnector to establish the connection and create and initiate the ArSonarMTX thread.

Since

2.8.0

Member Function Documentation

blockingConnect()

bool ArSonarMTX::blockingConnect ( bool  sendTracking, bool  recvTracking  )

virtual

MPL added these lines to help someone debug sonar ESD stuff

checkLostConnection()

bool ArSonarMTX::checkLostConnection

(

void

)

check for lost connections

This will check if the sonar has lost connection.

If there is no robot it is a straightforward check of last reading time against getConnectionTimeoutSeconds. If there is a robot then it will not start the check until the sonar is running and connected.

setRobot()

void ArSonarMTX::setRobot ( ArRobot *  robot )

virtual

Sets the robot pointer, also attaches its process function to the robot as a Sensor Interpretation task.

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

• ArSonarMTX.h
• ArSonarMTX.cpp