Laser acqusition thread for Sick TiM55x laser range finders. More...

#include "sick_tim55x_common_aqt.h"

Inheritance diagram for SickTiM55xCommonAcquisitionThread:

[legend]

Public Member Functions
	SickTiM55xCommonAcquisitionThread (std::string &cfg_name, std::string &cfg_prefix)
	Constructor. More...

virtual	~SickTiM55xCommonAcquisitionThread ()
	Destructor. More...

virtual void	pre_init (fawkes::Configuration config, fawkes::Logger logger)
	Pre initialization. More...

void	read_common_config ()
	Read common configuration parameters. More...

Public Member Functions inherited from LaserAcquisitionThread
	LaserAcquisitionThread (const char *thread_name)
	Constructor. More...

bool	lock_if_new_data ()
	Lock data if fresh. More...

void	unlock ()
	Unlock data,. More...

const float *	get_distance_data ()
	Get distance data. More...

const float *	get_echo_data ()
	Get echo data. More...

const fawkes::Time *	get_timestamp ()
	Get timestamp of data. More...

unsigned int	get_distance_data_size ()
	Get distance data size. More...

unsigned int	get_echo_data_size ()
	Get echo data size. More...

Public Member Functions inherited from fawkes::Thread
virtual	~Thread ()
	Virtual destructor. More...

virtual void	init ()
	Initialize the thread. More...

bool	prepare_finalize ()
	Prepare finalization. More...

virtual bool	prepare_finalize_user ()
	Prepare finalization user implementation. More...

virtual void	finalize ()
	Finalize the thread. More...

void	cancel_finalize ()
	Cancel finalization. More...

void	start (bool wait=true)
	Call this method to start the thread. More...

void	cancel ()
	Cancel a thread. More...

void	join ()
	Join the thread. More...

void	detach ()
	Detach the thread. More...

void	kill (int sig)
	Send signal to a thread. More...

bool	operator== (const Thread &thread)
	Check if two threads are the same. More...

void	wakeup ()
	Wake up thread. More...

void	wakeup (Barrier *barrier)
	Wake up thread and wait for barrier afterwards. More...

void	wait_loop_done ()
	Wait for the current loop iteration to finish. More...

OpMode	opmode () const
	Get operation mode. More...

pthread_t	thread_id () const
	Get ID of thread. More...

bool	started () const
	Check if thread has been started. More...

bool	cancelled () const
	Check if thread has been cancelled. More...

bool	detached () const
	Check if thread has been detached. More...

bool	running () const
	Check if the thread is running. More...

bool	waiting () const
	Check if thread is currently waiting for wakeup. More...

const char *	name () const
	Get name of thread. More...

void	set_flags (uint32_t flags)
	Set all flags in one go. More...

void	set_flag (uint32_t flag)
	Set flag for the thread. More...

void	unset_flag (uint32_t flag)
	Unset flag. More...

bool	flagged_bad () const
	Check if FLAG_BAD was set. More...

void	set_delete_on_exit (bool del)
	Set whether the thread should be deleted on exit. More...

void	set_prepfin_hold (bool hold)
	Hold prepare_finalize(). More...

void	add_notification_listener (ThreadNotificationListener *notification_listener)
	Add notification listener. More...

void	remove_notification_listener (ThreadNotificationListener *notification_listener)
	Remove notification listener. More...

void	notify_of_failed_init ()
	Notify of failed init. More...

void	add_loop_listener (ThreadLoopListener *loop_listener)
	Add loop listener. More...

void	remove_loop_listener (ThreadLoopListener *loop_listener)
	Remove loop listener. More...

Public Member Functions inherited from fawkes::LoggingAspect
	LoggingAspect ()
	Constructor. More...

virtual	~LoggingAspect ()
	Virtual empty Destructor. More...

void	init_LoggingAspect (Logger *logger)
	Set the logger. More...

Public Member Functions inherited from fawkes::Aspect
const std::list< const char * > &	get_aspects () const
	Get list of aspect names attached to a aspected thread. More...

Public Member Functions inherited from fawkes::ConfigurableAspect
	ConfigurableAspect ()
	Constructor. More...

virtual	~ConfigurableAspect ()
	Virtual empty Destructor. More...

void	init_ConfigurableAspect (Configuration *config)
	Set the configuration It is guaranteed that this is called for a configurable thread before Thread::start() is called (when running regularly inside Fawkes). More...

Public Member Functions inherited from fawkes::ClockAspect
	ClockAspect ()
	Constructor. More...

virtual	~ClockAspect ()
	Virtual empty destructor. More...

void	init_ClockAspect (Clock *clock)
	Set the clock. More...

Public Member Functions inherited from fawkes::ConfigurationChangeHandler
	ConfigurationChangeHandler (const char *path_prefix)
	Constructor. More...

virtual	~ConfigurationChangeHandler ()
	Destructor. More...

const char *	config_monitor_prefix ()
	Which path prefix shall be monitored. More...

Protected Member Functions
void	init_device ()
	Initialize device. More...

void	resync ()
	Resynchronize to laser data. More...

void	parse_datagram (const unsigned char *datagram, size_t datagram_length)
	Parse incoming message from device. More...

virtual void	send_with_reply (const char request, std::string reply=NULL)=0
	Send a request and expect a reply. More...

virtual void	open_device ()=0
	Open the device. More...

virtual void	close_device ()=0
	Close the device. More...

virtual void	flush_device ()=0
	Flush the device. More...

Protected Member Functions inherited from LaserAcquisitionThread
virtual void	run ()
	Stub to see name in backtrace for easier debugging. More...

void	alloc_distances (unsigned int num_distances)
	Allocate distances array. More...

void	alloc_echoes (unsigned int num_echoes)
	Allocate echoes array. More...

void	reset_distances ()
	Reset all distance values to NaN. More...

void	reset_echoes ()
	Reset all distance values to NaN. More...

Protected Member Functions inherited from fawkes::Thread
	Thread (const char *name)
	Constructor. More...

	Thread (const char *name, OpMode op_mode)
	Constructor. More...

void	exit ()
	Exit the thread. More...

void	test_cancel ()
	Set cancellation point. More...

void	yield ()
	Yield the processor to another thread or process. More...

void	set_opmode (OpMode op_mode)
	Set operation mode. More...

void	set_prepfin_conc_loop (bool concurrent=true)
	Set concurrent execution of prepare_finalize() and loop(). More...

void	set_coalesce_wakeups (bool coalesce=true)
	Set wakeup coalescing. More...

void	set_name (const char *format,...)
	Set name of thread. More...

virtual void	once ()
	Execute an action exactly once. More...

virtual void	loop ()
	Code to execute in the thread. More...

bool	wakeup_pending ()
	Check if wakeups are pending. More...

Protected Member Functions inherited from fawkes::Aspect
void	add_aspect (const char *name)
	Add an aspect to a thread. More...

Protected Attributes
std::string	cfg_name_
	Name of the particular configuration instance. More...

std::string	cfg_prefix_
	Configuration path prefix for this configuration. More...

std::string	dev_model_
	Device model type as string. More...

Protected Attributes inherited from LaserAcquisitionThread
fawkes::Mutex *	_data_mutex
	Lock while writing to distances or echoes array or marking new data. More...

fawkes::Time *	_timestamp
	Time when the most recent data was received. More...

bool	_new_data
	Set to true in your loop if new data is available. More...

float *	_distances
	Allocate a float array and copy your distance values measured in meters here. More...

float *	_echoes
	Allocate a float array and copy your echo values here. More...

unsigned int	_distances_size
	Assign this the size of the _distances array. More...

unsigned int	_echoes_size
	Assign this the size of the _echoes array. More...

Protected Attributes inherited from fawkes::Thread
bool	finalize_prepared
	True if prepare_finalize() has been called and was not stopped with a cancel_finalize(), false otherwise. More...

Mutex *	loop_mutex
	Mutex that is used to protect a call to loop(). More...

Mutex *	loopinterrupt_antistarve_mutex
	Mutex to avoid starvation when trying to lock loop_mutex. More...

Protected Attributes inherited from fawkes::LoggingAspect
Logger *	logger
	This is the Logger member used to access the logger. More...

Protected Attributes inherited from fawkes::ConfigurableAspect
Configuration *	config
	This is the Configuration member used to access the configuration. More...

Protected Attributes inherited from fawkes::ClockAspect
Clock *	clock
	By means of this member access to the clock is given. More...

Additional Inherited Members
Public Types inherited from fawkes::Thread
enum	OpMode { OPMODE_CONTINUOUS , OPMODE_WAITFORWAKEUP }
	Thread operation mode. More...

enum	CancelState { CANCEL_ENABLED , CANCEL_DISABLED }
	Cancel state. More...

Static Public Member Functions inherited from fawkes::Thread
static Thread *	current_thread ()
	Get the Thread instance of the currently running thread. More...

static Thread *	current_thread_noexc () throw ()
	Similar to current_thread, but does never throw an exception. More...

static pthread_t	current_thread_id ()
	Get the ID of the currently running thread. More...

static std::string	current_thread_name ()
	Get the name of the current thread. More...

static void	current_thread_name (const std::string &thread_name)
	Set the name of the current thread. More...

static void	init_main ()
	Initialize Thread wrapper instance for main thread. More...

static void	destroy_main ()
	Destroy main thread wrapper instance. More...

static void	set_cancel_state (CancelState new_state, CancelState *old_state=0)
	Set the cancel state of the current thread. More...

Static Public Attributes inherited from fawkes::Thread
static const unsigned int	FLAG_BAD = 0x00000001
	Standard thread flag: "thread is bad". More...

Detailed Description

Laser acqusition thread for Sick TiM55x laser range finders.

This thread fetches the data from the laser.

Author: Tim Niemueller

Definition at line 37 of file sick_tim55x_common_aqt.h.

Constructor & Destructor Documentation

◆ SickTiM55xCommonAcquisitionThread()

SickTiM55xCommonAcquisitionThread::SickTiM55xCommonAcquisitionThread	(	std::string &	cfg_name,
		std::string &	cfg_prefix
	)

Constructor.

Parameters

cfg_name	short name of configuration group
cfg_prefix	configuration path prefix

Definition at line 74 of file sick_tim55x_common_aqt.cpp.

References cfg_name_, cfg_prefix_, and fawkes::Thread::set_name().

◆ ~SickTiM55xCommonAcquisitionThread()

SickTiM55xCommonAcquisitionThread::~SickTiM55xCommonAcquisitionThread ( )

virtual

Destructor.

Definition at line 86 of file sick_tim55x_common_aqt.cpp.

Member Function Documentation

◆ close_device()

void SickTiM55xCommonAcquisitionThread::close_device ( )

protectedpure virtual

Close the device.

Virtual method implemented by the actual connection driver.

Referenced by init_device().

◆ flush_device()

void SickTiM55xCommonAcquisitionThread::flush_device ( )

protectedpure virtual

Flush the device.

Read all current data on the channel and return on no data to read or timeout.

Referenced by init_device(), and resync().

◆ init_device()

void SickTiM55xCommonAcquisitionThread::init_device ( )

protected

Initialize device.

Definition at line 133 of file sick_tim55x_common_aqt.cpp.

References fawkes::Exception::append(), close_device(), dev_model_, flush_device(), fawkes::Logger::log_debug(), fawkes::LoggingAspect::logger, fawkes::Thread::name(), open_device(), and send_with_reply().

Referenced by SickTiM55xEthernetAcquisitionThread::init(), SickTiM55xUSBAcquisitionThread::init(), SickTiM55xEthernetAcquisitionThread::loop(), and SickTiM55xUSBAcquisitionThread::loop().

◆ open_device()

void SickTiM55xCommonAcquisitionThread::open_device ( )

protectedpure virtual

Open the device.

Virtual method implemented by the actual connection driver.

Referenced by init_device().

◆ parse_datagram()

void SickTiM55xCommonAcquisitionThread::parse_datagram	(	const unsigned char *	datagram,
		size_t	datagram_length
	)

protected

Parse incoming message from device.

Based on https://www.mysick.com/saqqara/pdf.aspx?id=im0053129 and https://github.com/uos/sick_tim3xx.

Parameters

datagram	data content
datagram_length	length in bytes of `datagram`

Definition at line 200 of file sick_tim55x_common_aqt.cpp.

References LaserAcquisitionThread::_data_mutex, LaserAcquisitionThread::_distances, LaserAcquisitionThread::_distances_size, LaserAcquisitionThread::_echoes, LaserAcquisitionThread::_echoes_size, LaserAcquisitionThread::_new_data, LaserAcquisitionThread::_timestamp, fawkes::Mutex::lock(), fawkes::rad2deg(), fawkes::Time::stamp(), and fawkes::Mutex::unlock().

Referenced by SickTiM55xEthernetAcquisitionThread::loop(), and SickTiM55xUSBAcquisitionThread::loop().

◆ pre_init()

void SickTiM55xCommonAcquisitionThread::pre_init	(	fawkes::Configuration *	config,
		fawkes::Logger *	logger
	)

virtual

Pre initialization.

This method is called by the sensor thread for pre-initialization. After this method has been executed the methods get_distances_data_size() and get_echo_data_size() must return valid data.

Parameters