Connect to sonar based on robot parameters and command-line arguments. More...

#include <ArSonarConnector.h>

Classes
class	SonarData
	Class that holds information about the sonar data. More...

Public Member Functions
bool	addSonar (ArSonarMTX *sonar, int sonarNumber=1)
	Adds a sonar so parsing will get it. More...

	ArSonarConnector (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	connectReplaySonars (bool continueOnFailedConnect=false, bool addConnectedSonarsToRobot=true, bool addAllSonarsToRobot=false, bool turnOnSonars=true, bool powerCycleSonarOnFailedConnect=true)

bool	connectSonar (ArSonarMTX *sonar, int sonarNumber=1, bool forceConnection=true)
	Connects the sonar synchronously (will take up to a minute) More...

bool	connectSonars (bool continueOnFailedConnect=false, bool addConnectedSonarsToRobot=true, bool addAllSonarsToRobot=false, bool turnOnSonars=true, bool powerCycleSonarOnFailedConnect=true)
	Connects all the sonars the robot has that should be auto connected.

ArSonarMTX *	getSonar (int sonarNumber)
	Internal function to get the sonar (only useful between parseArgs and connectSonars)

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	replaceSonar (ArSonarMTX *sonar, int sonarNumber)
	Internal function to replace the sonar (only useful between parseArgs and connectSonars) but not the sonar data.

bool	setupSonar (ArSonarMTX *sonar, int sonarNumber=1)
	Sets up a sonar to be connected. More...

	~ArSonarConnector (void)
	Destructor.

Protected Member Functions
bool	internalConfigureSonar (SonarData *sonarData)

void	logSonarOptions (SonarData *sonardata, bool header=true, bool metaOpts=true) const
	Logs the sonar command line option help text.

bool	parseSonarArgs (ArArgumentParser parser, SonarData sonarData)
	Parses the sonar arguments.

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

Protected Attributes
bool	myAutoParseArgs

ArLog::LogLevel	myInfoLogLevel

ArConstFunctorC< ArSonarConnector >	myLogOptionsCB

bool	myOwnParser

ArRetFunctorC< bool, ArSonarConnector >	myParseArgsCB

bool	myParsedArgs

ArArgumentParser *	myParser

ArRobot *	myRobot

ArRobotConnector *	myRobotConnector

bool	mySonarLogPacketsReceived

bool	mySonarLogPacketsSent

std::map< int, SonarData * >	mySonars

std::string	mySonarTypes

ArRetFunctor1< bool, const char * > *	myTurnOffPowerOutputCB

ArRetFunctor1< bool, const char * > *	myTurnOnPowerOutputCB

Detailed Description

Connect to sonar based on robot parameters and command-line arguments.

ArSonarConnector makes a sonar connection either through a serial port connection. When you create your ArSonarConnector, 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()). ArSonarConnector 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:

Options for ArSonarConnector:
-sonarLogPacketsReceived
-slpr
-sonarLogPacketsSent
-slps

Options shown are for currently set up sonars.  Activate sonars with -sonarType<N> option
to see options for that sonar (e.g. "-help -sonarType1 sonarMTX").
Valid sonar types are: mtx

See docs for details.

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

Since: 2.8.0

Constructor & Destructor Documentation

◆ ArSonarConnector()

ArSonarConnector::ArSonarConnector	(	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 ArSonarConnector, which may need to access its contents later.

Parameters

parser	the parser with the arguments to parse
robot	the robot these sonars 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 sonars and such, this is also passed to all the sonars created as their infoLogLevel too

Member Function Documentation

◆ addSonar()

bool ArSonarConnector::addSonar	(	ArSonarMTX *	sonar,
		int	sonarNumber = `1`
	)

Adds a sonar so parsing will get it.

Normally adding sonars 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 ArSonarConnector::connectSonars.()

◆ connectSonar()

bool ArSonarConnector::connectSonar	(	ArSonarMTX *	sonar,
		int	sonarNumber = `1`,
		bool	forceConnection = `true`
	)

Connects the sonar 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 ArSonarConnector::connectSonars().

◆ parseArgs() [1/2]

bool ArSonarConnector::parseArgs ( void )

Function to parse the arguments given in the constructor.

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

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

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

◆ parseArgs() [2/2]

bool ArSonarConnector::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 sonar connections. A program may request support for more than one sonar using setMaxNumSonarBoards(); if multi-sonar support is enabled in this way, then these arguments must have the sonar index number appended. For example, "-sonarPort" for sonar 1 would instead by "-sonarPort1", and for sonar 2 it would be "-sonarPort2".

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

◆ setupSonar()

bool ArSonarConnector::setupSonar	(	ArSonarMTX *	sonar,
		int	sonarNumber = `1`
	)

Sets up a sonar 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 ArSonarConnector::connectSonars().

◆ turnOnPower()

bool ArSonarConnector::turnOnPower ( SonarData * sonarData )

protected

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

MPL the new way

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

ArSonarConnector.h
ArSonarConnector.cpp

Classes

Public Member Functions

Protected Member Functions

Protected Attributes