Connect to robot and lcd based on run-time availablitily and command-line arguments. More...

#include <ArLCDConnector.h>

Classes
class	LCDData
	Class that holds information about the lcd data. More...

Public Member Functions
bool	addLCD (ArLCDMTX *lcd, int lcdNumber=1)
	Adds a lcd so parsing will get it. More...

	ArLCDConnector (ArArgumentParser parser, ArRobot robot, ArRobotConnector robotConnector, bool autoParseArgs=true, ArLog::LogLevel infoLogLevel=ArLog::Verbose, ArRetFunctor1< bool, const char > turnOnPowerOutputCB=NULL, ArRetFunctor1< bool, const char > *turnOffPowerOutputCB=NULL)
	Constructor that takes argument parser. More...

bool	connectLCD (ArLCDMTX *lcd, int lcdNumber=1, bool forceConnection=true)
	Connects the lcd synchronously (will take up to a minute) More...

bool	connectLCDs (bool continueOnFailedConnect=false, bool addConnectedLCDsToRobot=true, bool addAllLCDsToRobot=false, bool turnOnLCDs=true, bool powerCycleLCDOnFailedConnect=true)
	Connects all the lcds the robot has that should be auto connected.

ArLCDMTX *	getLCD (int lcdNumber)
	Internal function to get the lcd (only useful between parseArgs and connectLCDs)

void	logOptions (void) const
	Log the options the simple connector has.

bool	parseArgs (void)
	Function to parse the arguments given in the constructor. More...

bool	parseArgs (ArArgumentParser *parser)
	Function to parse the arguments given in an arbitrary parser. More...

bool	replaceLCD (ArLCDMTX *lcd, int lcdNumber)
	Internal function to replace the lcd (only useful between parseArgs and connectLCDs) but not the lcd data.

void	setIdentifier (const char *identifier)

bool	setupLCD (ArLCDMTX *lcd, int lcdNumber=1)
	Sets up a lcd to be connected. More...

void	turnOffPowerCB (int)

void	turnOnPowerCB (int)

	~ArLCDConnector (void)
	Destructor.

Protected Member Functions
bool	internalConfigureLCD (LCDData *lcdData)

void	logLCDOptions (LCDData *lcddata, bool header=true, bool metaOpts=true) const
	Logs the lcd command line option help text.

bool	parseLCDArgs (ArArgumentParser parser, LCDData lcdData)
	Parses the lcd arguments.

std::string	searchForFile (const char dirToLookIn, const char prefix, const char *suffix)

bool	turnOffPower (LCDData *LCDData)
	Turns off the power for the specific board in the firmware. More...

bool	turnOnPower (LCDData *LCDData)
	Turns on the power for the specific board in the firmware. More...

bool	verifyFirmware (LCDData *LCDData)
	Verifies the firmware version on the LCD and loads new firmware if there is no match.

Protected Attributes
bool	myAutoParseArgs

ArLog::LogLevel	myInfoLogLevel

bool	myLCDLogPacketsReceived

bool	myLCDLogPacketsSent

std::map< int, LCDData * >	myLCDs

std::string	myLCDTypes

ArConstFunctorC< ArLCDConnector >	myLogOptionsCB

bool	myOwnParser

ArRetFunctorC< bool, ArLCDConnector >	myParseArgsCB

bool	myParsedArgs

ArArgumentParser *	myParser

ArRobot *	myRobot

ArRobotConnector *	myRobotConnector

ArFunctor1C< ArLCDConnector, int >	myTurnOffPowerCB

ArRetFunctor1< bool, const char * > *	myTurnOffPowerOutputCB

ArFunctor1C< ArLCDConnector, int >	myTurnOnPowerCB

ArRetFunctor1< bool, const char * > *	myTurnOnPowerOutputCB

Detailed Description

Connect to robot and lcd based on run-time availablitily and command-line arguments.

ArLCDConnector makes a lcd connection either through a serial port connection, or through a TCP port (for the simulator or for robots with Ethernet-serial bridge devices instead of onboard computers). Normally, it first attempts a TCP connection on localhost port 8101, to use a simulator if running. If the simulator is not running, then it normally then connects using the serial port Various connection parameters are configurable through command-line arguments or in the robot parameter file. (Though the internal interface used by ARIA to do this is also available if you need to use it: See addLCD(); otherwise don't use addLCD(), setupLCD(), etc.).

When you create your ArLCDConnector, pass it command line parameters via either the argc and argv variables from main(), or pass it an ArArgumentBuilder or ArArgumentParser object. (ArArgumentBuilder is able to obtain command line parameters from a Windows program that uses WinMain() instead of main()). ArLCDConnector registers a callback with the global Aria class. Use Aria::parseArgs() to parse all command line parameters to the program, and Aria::logOptions() to print out information about all registered command-line parameters.

The following command-line arguments are checked:

To connect to any lcds that were set up in the robot parameter file or via command line arguments, call connectLCDs(). If successful, connectLCDs() will return true and add an entry for each lcd connected in the ArRobot object's list of lcds. These ArLCDMTX objects can be accessed from your ArRobot object via ArRobot::findLCD() or ArRobot::getLCDMap().

Since: 2.8.0

Constructor & Destructor Documentation

◆ ArLCDConnector()

ArLCDConnector::ArLCDConnector	(	ArArgumentParser *	parser,
		ArRobot *	robot,
		ArRobotConnector *	robotConnector,
		bool	autoParseArgs = `true`,
		ArLog::LogLevel	infoLogLevel = `ArLog::Verbose`,
		ArRetFunctor1< bool, const char >	turnOnPowerOutputCB = `NULL`,
		ArRetFunctor1< bool, const char >	turnOffPowerOutputCB = `NULL`
	)

Constructor that takes argument parser.

Warning: do not delete parser during the lifetime of this ArLCDConnector, which may need to access its contents later.

Parameters

parser	the parser with the arguments to parse
robot	the robot these lcds are attached to (or NULL for none)
robotConnector	the connector used for connecting to the robot (so we can see if it was a sim or not)
autoParseArgs	if this class should autoparse the args if they aren't parsed explicitly
infoLogLevel	The log level for information about creating lcds and such, this is also passed to all the lcds created as their infoLogLevel too

Member Function Documentation

◆ addLCD()

bool ArLCDConnector::addLCD	(	ArLCDMTX *	lcd,
		int	lcdNumber = `1`
	)

Adds a lcd so parsing will get it.

Normally adding lcds is done from the .p file, you can use this if you want to add them explicitly in a program (which will override the .p file, and may cause some problems).

This is mainly for backwards compatibility (ie used for ArSimpleConnector). If you're using this class you should probably use the new functionality which is just ArLCDConnector::connectLCDs.()

◆ connectLCD()

bool ArLCDConnector::connectLCD	(	ArLCDMTX *	lcd,
		int	lcdNumber = `1`,
		bool	forceConnection = `true`
	)

Connects the lcd synchronously (will take up to a minute)

This is mainly for backwards compatibility (ie used for ArSimpleConnector).

If you're using this class you should probably use the new functionality which is just ArLCDConnector::connectLCDs().

◆ parseArgs() [1/2]

bool ArLCDConnector::parseArgs ( void )

Function to parse the arguments given in the constructor.

Parse command line arguments using the ArArgumentParser given in the ArLCDConnector constructor.

See parseArgs(ArArgumentParser*) for details about argument parsing.

Returns: true if the arguments were parsed successfully false if not

◆ parseArgs() [2/2]

bool ArLCDConnector::parseArgs ( ArArgumentParser * parser )

Function to parse the arguments given in an arbitrary parser.

Parse command line arguments held by the given ArArgumentParser.

Returns: true if the arguments were parsed successfully false if not

The following arguments are accepted for lcd connections. A program may request support for more than one lcd using setMaxNumLCDs(); if multi-lcd support is enabled in this way, then these arguments must have the lcd index number appended. For example, "-lcdPort" for lcd 1 would instead by "-lcdPort1", and for lcd 2 it would be "-lcdPort2".

-lcdPort port
-lcdp port: Use the given port device name when connecting to a lcd. For example, COM2 or on Linux, /dev/ttyS1. The default lcd port is COM2, which is the typical Pioneer lcd port setup.
-connectLCD
-clcd: Explicitly request that the client program connect to a lcd, if it does not always do so

◆ setupLCD()

bool ArLCDConnector::setupLCD	(	ArLCDMTX *	lcd,
		int	lcdNumber = `1`
	)

Sets up a lcd to be connected.

This is mainly for backwards compatibility (ie used for ArSimpleConnector).

If you're using this class you should probably use the new functionality which is just ArLCDConnector::connectLCDs().

◆ turnOffPower()

bool ArLCDConnector::turnOffPower ( LCDData * LCDData )

protected

Turns off the power for the specific board in the firmware.

MPL the new way

◆ turnOnPower()

bool ArLCDConnector::turnOnPower ( LCDData * LCDData )

protected

Turns on the power for the specific board in the firmware.