HokuyoLaserUnit.h

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/*
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    RobotAPI::ArmarXObjects::HokuyoLaserUnit
 * @author     Fabian Paus ( fabian dot paus at kit dot edu )
 * @date       2017
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <vector>
 
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/services/tasks/RunningTask.h>
 
#include <RobotAPI/components/units/SensorActorUnit.h>
#include <RobotAPI/interface/components/RobotHealthInterface.h>
#include <RobotAPI/interface/units/LaserScannerUnit.h>
#include <RobotAPI/libraries/RobotAPIComponentPlugins/HeartbeatComponentPlugin.h>
 
#include <HokuyoLaserScannerDriver/urg_sensor.h>
 
namespace armarx
{
    /**
     * @class HokuyoLaserUnitPropertyDefinitions
     * @brief
     */
    class HokuyoLaserUnitPropertyDefinitions : public armarx::ComponentPropertyDefinitions
    {
    public:
        HokuyoLaserUnitPropertyDefinitions(std::string prefix) :
            armarx::ComponentPropertyDefinitions(prefix)
        {
            defineOptionalProperty<std::string>(
                "LaserScannerListenerName", "CartographerMappingAndLocalization", "Name of the laser scan listener.");
            defineOptionalProperty<int>("UpdatePeriod", 25, "Update period for laser scans");
            defineOptionalProperty<float>("AngleOffset",
                                          -2.3561944902,
                                          "Offset is applied the raw angles before reporting them");
            defineOptionalProperty<std::string>(
                "Devices",
                "",
                "List of devices in form of 'IP1,port1,frame1;IP2,port2,frame2;...'");
 
            defineOptionalProperty<std::string>(
                "RobotHealthComponentName", "RobotHealth", "Name of the RobotHealth component");
            defineOptionalProperty<std::string>(
                "RobotHealthTopicName", "RobotHealthTopic", "Name of the RobotHealth topic");
            defineOptionalProperty<std::string>("DebugObserverName",
                                                "DebugObserver",
                                                "Name of the topic the DebugObserver listens on");
        }
    };
 
    struct HokuyoLaserScanDevice
    {
        std::string ip;
        int port = 0;
        std::string frame;
        float angleOffset = 0.0f;
        bool connected = false;
        urg_t urg;
        std::vector<long> lengthData;
        int errorCounter = 0;
 
        bool reconnect();
 
 
        void run();
 
        RunningTask<HokuyoLaserScanDevice>::pointer_type task;
        LaserScan scan;
 
        std::string componentName;
        LaserScannerUnitListenerPrx listenerPrx;
        armarx::plugins::HeartbeatComponentPlugin* robotHealthPlugin;
        DebugObserverInterfacePrx debugObserver;
    };
 
    /**
     * @defgroup Component-HokuyoLaserUnit HokuyoLaserUnit
     * @ingroup RobotAPI-Components
     * A description of the component HokuyoLaserUnit.
     *
     * @class HokuyoLaserUnit
     * @ingroup Component-HokuyoLaserUnit
     * @brief Brief description of class HokuyoLaserUnit.
     *
     * Detailed description of class HokuyoLaserUnit.
     */
    class HokuyoLaserUnit :
        virtual public armarx::LaserScannerUnitInterface,
        virtual public armarx::SensorActorUnit
    {
    public:
        HokuyoLaserUnit();
 
        /**
         * @see armarx::ManagedIceObject::getDefaultName()
         */
        std::string
        getDefaultName() const override
        {
            return "HokuyoLaserUnit";
        }
 
    protected:
        /**
         * @see armarx::ManagedIceObject::onInitComponent()
         */
        void onInitComponent() override;
 
        /**
         * @see armarx::ManagedIceObject::onConnectComponent()
         */
        void onConnectComponent() override;
 
        /**
         * @see armarx::ManagedIceObject::onDisconnectComponent()
         */
        void onDisconnectComponent() override;
 
        /**
         * @see armarx::ManagedIceObject::onExitComponent()
         */
        void onExitComponent() override;
 
        /**
         * @see PropertyUser::createPropertyDefinitions()
         */
        armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
 
        std::string getReportTopicName(const Ice::Current& c) const override;
 
        LaserScannerInfoSeq getConnectedDevices(const Ice::Current& c) const override;
 
    private:
        std::string laserScannerListenerProxyName;
        LaserScannerUnitListenerPrx listenerPrx;
        int updatePeriod = 25;
        float angleOffset = 0.0f;
        std::vector<HokuyoLaserScanDevice> devices;
        LaserScannerInfoSeq connectedDevices;
        DebugObserverInterfacePrx debugObserver;
 
        plugins::HeartbeatComponentPlugin* heartbeat = nullptr;
    };
} // namespace armarx