ArLCDMTX Class Reference

Interface to LCD interface panel on an MTX-type robot. More...

#include <ArLCDMTX.h>

Inherits ArASyncTask.

Public Types
enum	Screens { BOOT_SCREEN =0x00, STATUS_SCREEN =0x01 }
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.
	ArLCDMTX (int lcdBoardNum=0, const char *name="MTXLCD", ArDeviceConnection *conn=NULL, ArRobot *robot=NULL)
	Constructor.
virtual bool	blockingConnect (bool sendTracking, bool recvTracking, int lcdNumber, ArFunctor1< int > *onCallback, ArFunctor1< int > *offCallback)
bool	checkLostConnection (void)
	check for lost connections More...
virtual bool	disconnect (void)
void	disconnectOnError (void)
	disconnect
int	getBoardNum (void)
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 lcd.
const char *	getDefaultTcpPort (void)
	Gets the default port type for the lcd.
ArDeviceConnection *	getDeviceConnection (void)
	Gets the device this instance receives packets from.
const char *	getFirmwareVersion (void) const
ArTime	getLastReadingTime (void)
	Gets the time data was last receieved.
virtual const char *	getName (void) const
int	getReadingCount (void)
	Gets the number of lcd readings received in the last second.
bool	internalMTXLCDOverrideBacklight (bool backlight)
	internal call (don't use it) that updates from the calling thread instead of the correct thread
bool	internalMTXLCDOverrideBootScreenText (const char *status)
	internal call (don't use it) that updates from the calling thread instead of the correct thread
bool	internalMTXLCDOverrideMainScreenText (const char *status)
	internal call (don't use it) that updates from the calling thread instead of the correct thread
virtual bool	isConnected (void)
virtual bool	isTryingToConnect (void)
virtual int	lockDevice ()
	Lock this device.
void	remDisconnectOnErrorCB (ArFunctor *functor)
	Removes a callback for when disconnection happens because of an error.
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	setIdentifier (const char *identifier)
void	setInfoLogLevel (ArLog::LogLevel infoLogLevel)
bool	setMTXLCDBackLight (bool backLight)
bool	setMTXLCDBootScreenText (const char *status)
bool	setMTXLCDMainScreenText (const char *status)
	exposed routines to set the various screen status(s) text size is limited to 247 characters... More...
bool	setMTXLCDScreenNumber (unsigned char screenNumber)
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.
virtual int	unlockDevice ()
	Unlock this device.
bool	verifyFwVersion ()
virtual	~ArLCDMTX ()
	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 {   KEEP_ALIVE =0x00, VERSION =0x01, SYSTEM_INFO =0x02, REBOOT =0x03,   GET_CURRENT_SCREEN_NUM =0x10, GET_TEXT_FIELD =0x11, GET_BACKLIGHT =0x12, GET_SYSTEM_METERS =0x13,   SET_SCREEN_NUM =0x20, SET_TEXT_FIELD =0x21, SET_BACKLIGHT =0x22, SET_BATTERY_WIFI =0x23 }
enum	Headers { HEADER1 =0xfa, HEADER2 =0xcd }
enum	SYS_INFO { SYS_INFO_STOP =0x00, SYS_INFO_ONCE =0x01, SYS_INFO_CONTINUOUS =0x02 }
enum	TextNumbers {   BOOT_STATUS_TEXT =0x00, MAIN_STATUS_TEXT =0x01, MODE_TEXT =0x02, ROBOT_ID_TEXT =0x03,   ROBOT_IP_TEXT =0x04 }

Protected Member Functions
void	clear (void)
bool	downloadFirmware ()
void	failedToConnect (void)
bool	getBacklight (unsigned char *backlight)
unsigned char	getBatteryPercentage ()
bool	getBootStatus (const char *status)
void	getIpAddress ()
bool	getMainStatus (const char *status)
bool	getScreenNumber (unsigned char *currentScreenNumber)
bool	getSystemMeters (unsigned char *battery, unsigned char *wifi)
bool	getTextField (unsigned char textNumber, char *text)
bool	getTextStatus (const char *status)
unsigned char	getWifiPercentage ()
virtual void	internalGotReading (void)
virtual void	lcdSetName (const char *name)
void	log (void)
	Logs the information about the sensor.
virtual void *	runThread (void *arg)
std::string	searchForFile (const char *dirToLookIn, const char *prefix, const char *suffix)
bool	sendKeepAlive ()
bool	sendReboot ()
bool	sendSystemInfo (unsigned char command)
bool	sendVersion ()
void	sensorInterp (void)
bool	setBacklight (bool backlight)
bool	setBootStatus (const char *status)
bool	setMainStatus (const char *status)
bool	setRobotIdStatus (const char *status)
bool	setRobotIPStatus (const char *status)
bool	setScreenNumber (unsigned char screenNumber)
bool	setSystemMeters (unsigned char battery, unsigned char wifi)
bool	setTextField (unsigned char textNumber, const char *text)
bool	setTextStatus (const char *status)
void	writeToLCD ()
Protected Member Functions inherited from ArThread
virtual int	doJoin (void **ret=NULL)

Protected Attributes
ArRetFunctorC< bool, ArLCDMTX >	myAriaExitCB
bool	myBackLightChanged
int	myBoardNum
bool	myBootTextChanged
bool	myChangedBackLight
char	myChangedBootText [248]
char	myChangedModeText [248]
unsigned char	myChangedScreenNumber
char	myChangedStatusText [248]
ArRobot::ChargeState	myChargeState
ArDeviceConnection *	myConn
bool	myConnFailOption
unsigned char	myCurrentScreen
long long	myCurrentTime
ArMutex	myDataMutex
std::string	myDefaultPortType
std::string	myDefaultTcpPort
ArMutex	myDeviceMutex
ArCallbackList	myDisconnectOnErrorCBList
std::string	myFirmwareVersion
unsigned char	myId
ArLog::LogLevel	myInfoLogLevel
std::string	myIpAddress
bool	myIsConnected
ArTime	myLastReading
ArLog::LogLevel	myLogLevel
bool	myMainScreenModeChanged
bool	myMainScreenStatusChanged
std::string	myName
std::string	myNewFwFile
bool	myOnCharger
std::list< ArRobotPacket * >	myPackets
ArMutex	myPacketsMutex
ArTime	myPrevLCDIntTime
ArFunctorC< ArLCDMTX >	myProcessCB
int	myReadingCount
int	myReadingCurrentCount
ArRobotPacketReceiver *	myReceiver
bool	myRecvTracking
bool	myRequestedCellInfoLCDPackets
bool	myRequestedSysInfoLCDPackets
ArRobot *	myRobot
std::string	myRobotIdentifier
bool	myRobotIdentifierChanged
bool	myRobotRunningAndConnected
bool	myScreenNumberChanged
ArRobotPacketSender *	mySender
bool	mySendTracking
ArFunctorC< ArLCDMTX >	mySensorInterpTask
unsigned int	mySerialNumber
bool	myStartConnect
unsigned char	myStatusFlags
time_t	myTimeLastReading
double	myTimeoutSeconds
bool	myTryingToConnect
unsigned char	myVersion
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

Interface to LCD interface panel on an MTX-type robot.

This interface can be used to display text strings on the MTX LCD panel. One or more ArLCDMTX objects are automatically created by ArRobotConnector (or ArLCDConnector if used separately from ArRobotConnector) if connecting to an MTX robot, and a successful connection to the LCD panel was also made. A pointer to the first ArLCDMTX object can be obtained via ArRobot::findLCD(), passing an index of 1.

Since

2.8.0

Examples:

mtxLCDDisplay.cpp.

Member Function Documentation

checkLostConnection()

bool ArLCDMTX::checkLostConnection

(

void

)

check for lost connections

This will check if the lcd 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 lcd is running and connected.

setMTXLCDMainScreenText()

bool ArLCDMTX::setMTXLCDMainScreenText

(

const char *

status

)

exposed routines to set the various screen status(s) text size is limited to 247 characters...

supports new lines (it can show up to 6 lines, with roughly 22-26 chars per line)

setRobot()

void ArLCDMTX::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:

• ArLCDMTX.h
• ArLCDMTX.cpp