From 36d158746903fb245ac2f3bbe703fca251d85e84 Mon Sep 17 00:00:00 2001
From: Johann Mantel <j-mantel@gmx.net>
Date: Fri, 2 Jul 2021 12:43:46 +0200
Subject: [PATCH] make Parameters optional by providing default values
---
etc/cmake/Findsick_scan_base.cmake | 6 +-
.../config/SickLaserUnit.cfg | 122 +++++++++++++++++-
.../drivers/SickLaserUnit/CMakeLists.txt | 10 ++
.../drivers/SickLaserUnit/SickLaserUnit.cpp | 19 +--
.../drivers/SickLaserUnit/SickLaserUnit.h | 20 ++-
5 files changed, 149 insertions(+), 28 deletions(-)
diff --git a/etc/cmake/Findsick_scan_base.cmake b/etc/cmake/Findsick_scan_base.cmake
index a4723e39e..36714c613 100644
--- a/etc/cmake/Findsick_scan_base.cmake
+++ b/etc/cmake/Findsick_scan_base.cmake
@@ -31,9 +31,11 @@ find_path(sick_scan_base_INCLUDE_DIR_2 NAMES tinystr.h PATHS ${HEADER_SEARCH_PAT
find_path(sick_scan_base_INCLUDE_DIR_3 NAMES sick_scan/SickScanConfig.h PATHS ${HEADER_SEARCH_PATHS} NO_DEFAULT_PATH)
find_path(sick_scan_base_INCLUDE_DIR_4 NAMES dynamic_reconfigure/config_tools.h PATHS ${HEADER_SEARCH_PATHS} NO_DEFAULT_PATH)
find_path(sick_scan_base_INCLUDE_DIR_5 NAMES sick_scan/SickScanConfig.h PATHS ${HEADER_SEARCH_PATHS} NO_DEFAULT_PATH)
+find_path(sick_scan_base_INCLUDE_DIR_6 NAMES sick_scan/rosconsole_simu.hpp PATHS ${HEADER_SEARCH_PATHS} NO_DEFAULT_PATH)
-if(sick_scan_base_INCLUDE_DIR_0 AND sick_scan_base_INCLUDE_DIR_1 AND sick_scan_base_INCLUDE_DIR_2 AND sick_scan_base_INCLUDE_DIR_3 AND sick_scan_base_INCLUDE_DIR_4 AND sick_scan_base_INCLUDE_DIR_4)
- set(sick_scan_base_INCLUDE_DIRS ${sick_scan_base_INCLUDE_DIR_0} ${sick_scan_base_INCLUDE_DIR_1} ${sick_scan_base_INCLUDE_DIR_2} ${sick_scan_base_INCLUDE_DIR_3} ${sick_scan_base_INCLUDE_DIR_4} ${sick_scan_base_INCLUDE_DIR_5})
+
+if(sick_scan_base_INCLUDE_DIR_0 AND sick_scan_base_INCLUDE_DIR_1 AND sick_scan_base_INCLUDE_DIR_2 AND sick_scan_base_INCLUDE_DIR_3 AND sick_scan_base_INCLUDE_DIR_4 AND sick_scan_base_INCLUDE_DIR_5 AND sick_scan_base_INCLUDE_DIR_6)
+ set(sick_scan_base_INCLUDE_DIRS ${sick_scan_base_INCLUDE_DIR_0} ${sick_scan_base_INCLUDE_DIR_1} ${sick_scan_base_INCLUDE_DIR_2} ${sick_scan_base_INCLUDE_DIR_3} ${sick_scan_base_INCLUDE_DIR_4} ${sick_scan_base_INCLUDE_DIR_5} ${sick_scan_base_INCLUDE_DIR_6})
endif()
message(STATUS "sick_scan_base_INCLUDE_DIRS:${sick_scan_base_INCLUDE_DIRS}")
diff --git a/scenarios/SickLaserUnitTest/config/SickLaserUnit.cfg b/scenarios/SickLaserUnitTest/config/SickLaserUnit.cfg
index 8274f384d..19f03edb0 100644
--- a/scenarios/SickLaserUnitTest/config/SickLaserUnit.cfg
+++ b/scenarios/SickLaserUnitTest/config/SickLaserUnit.cfg
@@ -143,7 +143,7 @@
# ArmarX.SickLaserUnit.ObjectName = ""
-# ArmarX.SickLaserUnit.angleOffset: Offset to the LaserScanner Angle
+# ArmarX.SickLaserUnit.angleOffset: offset to the scanning angle
# Attributes:
# - Default: 0
# - Case sensitivity: yes
@@ -151,26 +151,134 @@
ArmarX.SickLaserUnit.angleOffset = 0.0
-# ArmarX.SickLaserUnit.devices: List of Device Names
+# ArmarX.SickLaserUnit.deviceNumber: number of the LaserScanner Device
# Attributes:
-# - Default: Device1; Scanner2
+# - Default: 0
# - Case sensitivity: yes
# - Required: no
+# ArmarX.SickLaserUnit.deviceNumber = 0
+
+
+# ArmarX.SickLaserUnit.devices: No Description
+# Attributes:
+# - Default: Device1; Scanner2
+# - Case sensitivity: no
+# - Required: no
ArmarX.SickLaserUnit.devices = Device1; Scanner2
-# ArmarX.SickLaserUnit.laserScannerTopicName: Name of the published Topic
+# ArmarX.SickLaserUnit.emulateSensor: overwrite the default Settings and don't connect to Scanner
# Attributes:
+# - Default: false
# - Case sensitivity: yes
-# - Required: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.SickLaserUnit.emulateSensor = false
+
+
+# ArmarX.SickLaserUnit.hostname: Hostname of the LaserScanner
+# Attributes:
+# - Default: 192.168.8.133
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SickLaserUnit.hostname = 192.168.8.133
+
+
+# ArmarX.SickLaserUnit.laserScannerTopicName: No Description
+# Attributes:
+# - Default: "SickTopic"
+# - Case sensitivity: no
+# - Required: no
ArmarX.SickLaserUnit.laserScannerTopicName = "SickTopic"
-# ArmarX.SickLaserUnit.updatePeriod: Update every ? ms
+# ArmarX.SickLaserUnit.newIpAddress: New IP address for the LaserScanner
# Attributes:
-# - Default: 1
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SickLaserUnit.newIpAddress = ""
+
+
+# ArmarX.SickLaserUnit.port: port to use on the LaserScanner
+# Attributes:
+# - Default: 2112
# - Case sensitivity: yes
# - Required: no
+ArmarX.SickLaserUnit.port = 2112
+
+
+# ArmarX.SickLaserUnit.protocol: Either use ASCII or Binary protocol
+# Attributes:
+# - Default: ASCII
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {ASCII, Binary}
+ArmarX.SickLaserUnit.protocol = ASCII
+
+
+# ArmarX.SickLaserUnit.rangeMax: maximum Range of the Scanner
+# Attributes:
+# - Default: 10
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.SickLaserUnit.rangeMax = 10.00
+
+
+# ArmarX.SickLaserUnit.rangeMin: minimum Range of the Scanner
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.SickLaserUnit.rangeMin = 0.01
+
+
+# ArmarX.SickLaserUnit.scannerType: Name of the LaserScanner
+# Attributes:
+# - Case sensitivity: yes
+# - Required: yes
+ArmarX.SickLaserUnit.scannerType = sick_tim_5xx
+
+
+# ArmarX.SickLaserUnit.sopasProtocolType: Automatically set to true if the Scanner does not support ASCII communication
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.SickLaserUnit.sopasProtocolType = false
+
+
+# ArmarX.SickLaserUnit.subscribeDatagram: subscribe to Datagram in communication or not
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.SickLaserUnit.subscribeDatagram = false
+
+
+# ArmarX.SickLaserUnit.timeIncrement: timeIncrement??
+# Attributes:
+# - Default: 0.10000000000000001
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.SickLaserUnit.timeIncrement = 0.1
+
+
+# ArmarX.SickLaserUnit.timelimit: timelimit for communication
+# Attributes:
+# - Default: 5
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SickLaserUnit.timelimit = 5
+
+
+# ArmarX.SickLaserUnit.updatePeriod: No Description
+# Attributes:
+# - Default: 1
+# - Case sensitivity: no
+# - Required: no
ArmarX.SickLaserUnit.updatePeriod = 1
diff --git a/source/RobotAPI/drivers/SickLaserUnit/CMakeLists.txt b/source/RobotAPI/drivers/SickLaserUnit/CMakeLists.txt
index d123908c6..24f8769f4 100644
--- a/source/RobotAPI/drivers/SickLaserUnit/CMakeLists.txt
+++ b/source/RobotAPI/drivers/SickLaserUnit/CMakeLists.txt
@@ -17,7 +17,10 @@ armarx_set_target("Library: ${LIB_NAME}")
find_package(sick_scan_base)
armarx_build_if(sick_scan_base_FOUND "sick_scan_base not available")
+add_definitions(-DROSSIMU)
+find_package(Boost COMPONENTS system filesystem thread REQUIRED)
+armarx_build_if(Boost_FOUND "Boost not available")
# Add the component
armarx_add_component(
@@ -38,12 +41,15 @@ armarx_add_component(
## SickLaserUnitInterfaces # If you defined a component ice interface above.
${sick_scan_base_LIBRARIES}
+ ${Boost_LIBRARY_DIRS}
SOURCES
SickLaserUnit.cpp
+ #SickScanAdapter.cpp
HEADERS
SickLaserUnit.h
+ #SickScanAdapter.h
)
@@ -53,6 +59,10 @@ if(sick_scan_base_FOUND)
target_compile_definitions(${LIB_NAME} PUBLIC "-Dlinux")
endif()
+if(Boost_FOUND)
+ target_include_directories(${LIB_NAME} PUBLIC ${Boost_INCLUDE_DIR})
+endif()
+
# All target_include_directories must be guarded by if(Xyz_FOUND)
# For multiple libraries write: if(X_FOUND AND Y_FOUND) ...
#if(MyLib_FOUND)
diff --git a/source/RobotAPI/drivers/SickLaserUnit/SickLaserUnit.cpp b/source/RobotAPI/drivers/SickLaserUnit/SickLaserUnit.cpp
index 248e57adb..c706c5162 100644
--- a/source/RobotAPI/drivers/SickLaserUnit/SickLaserUnit.cpp
+++ b/source/RobotAPI/drivers/SickLaserUnit/SickLaserUnit.cpp
@@ -62,6 +62,7 @@ namespace armarx
{
ARMARX_INFO_S << "looping";
result = scanner->loopOnce();
+ ARMARX_INFO_S << "finished looping";
}
else
{
@@ -86,6 +87,7 @@ namespace armarx
delete this->scanner; // disconnect scanner
if (this->useTcp)
{
+ //this->scanner = new SickScanAdapter(this->ip, this->port, this->timelimit, this->parser, this->colaDialectId);
this->scanner = new sick_scan::SickScanCommonTcp(this->ip, this->port, this->timelimit, this->parser, this->colaDialectId);
}
else
@@ -100,6 +102,7 @@ namespace armarx
}
result = this->scanner->init();
this->isSensorInitialized = true;
+ ARMARX_INFO_S << "Scanner initialized.";
if (result == sick_scan::ExitSuccess) // OK -> loop again
{
@@ -146,13 +149,12 @@ namespace armarx
//Scanner parameters
def->required(properties.scannerType, "scannerType", "Name of the LaserScanner");
def->optional(properties.deviceNumber, "deviceNumber", "number of the LaserScanner Device");
- def->optional(properties.angleOffset, "angelOffset", "offset to the scanning angle");
- def->required(properties.rangeMin, "rangeMin", "minimum Range of the Scanner");
- def->required(properties.rangeMax, "rangeMax", "maximum Range of the Scanner");
+ def->optional(properties.angleOffset, "angleOffset", "offset to the scanning angle");
+ def->optional(properties.rangeMin, "rangeMin", "minimum Range of the Scanner");
+ def->optional(properties.rangeMax, "rangeMax", "maximum Range of the Scanner");
def->optional(properties.timeIncrement, "timeIncrement", "timeIncrement??");
//Additional configuration
def->optional(properties.emulSensor, "emulateSensor", "overwrite the default Settings and don't connect to Scanner");
-
return def;
}
@@ -164,7 +166,7 @@ namespace armarx
// (Requies the armarx::DebugObserverComponentPluginUser.)
// setDebugObserverBatchModeEnabled(true);
- ARMARX_INFO_S << "SickLaserUnit sagt Hallo Welt!";
+ ARMARX_INFO_S << "initializing SickLaserUnit.";
scanDevice.isSensorInitialized = false;
if (properties.hostname != "")
@@ -217,12 +219,12 @@ namespace armarx
}
else
{
- ARMARX_INFO_S << "ASCII protocol activated";
+ ARMARX_INFO_S << "ASCII protocol activated.";
scanDevice.protocol = ScanProtocol::ASCII;
}
break;
case ScanProtocol::Binary:
- ARMARX_INFO_S << "Binary protocol activated";
+ ARMARX_INFO_S << "Binary protocol activated.";
scanDevice.protocol = ScanProtocol::Binary;
break;
default:
@@ -240,11 +242,12 @@ namespace armarx
scanDevice.parser->getCurrentParamPtr()->setUseBinaryProtocol(true);
scanDevice.colaDialectId = 'B';
}
- ARMARX_INFO_S << "SickLaserUnit fertig initialisiert.";
+ ARMARX_INFO_S << "SickLaserUnit initialisation complete.";
}
void SickLaserUnit::onConnectComponent()
{
+ ARMARX_INFO_S << "Connecting.";
//start the laser scanner
if (scanDevice.task)
{
diff --git a/source/RobotAPI/drivers/SickLaserUnit/SickLaserUnit.h b/source/RobotAPI/drivers/SickLaserUnit/SickLaserUnit.h
index b70185321..e9a038959 100644
--- a/source/RobotAPI/drivers/SickLaserUnit/SickLaserUnit.h
+++ b/source/RobotAPI/drivers/SickLaserUnit/SickLaserUnit.h
@@ -26,20 +26,17 @@
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/services/tasks/RunningTask.h>
-// #include
-// <ArmarXCore/libraries/ArmarXCoreComponentPlugins/DebugObserverComponentPlugin.h>
+// #include <ArmarXCore/libraries/ArmarXCoreComponentPlugins/DebugObserverComponentPlugin.h>
-// #include
-// <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.h>
+// #include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.h>
// #include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
#include <vector>
-//#include "thirdparty/sick_scan_base/include/sick_scan/sick_scan_common.h"
-
-#include <sick_scan/sick_scan_common_tcp.h>
+//#include "SickScanAdapter.h"
#include <sick_scan/sick_scan_common.h>
+#include <sick_scan/sick_scan_common_tcp.h>
#include <sick_scan/sick_generic_laser.h>
namespace armarx
@@ -63,6 +60,7 @@ namespace armarx
//scanner parameters
std::string scannerType = "sick_tim_5xx";
int deviceNumber = 0;
+ double angleOffset = 0.0;
double rangeMin;
double rangeMax;
double timeIncrement;
@@ -70,7 +68,6 @@ namespace armarx
std::string ip;
std::string newIpAddress = "";
std::string port;
- double angleOffset = 0.0;
int timelimit = 5;
bool subscribeDatagram = false;
ScanProtocol protocol = ScanProtocol::ASCII;
@@ -84,6 +81,7 @@ namespace armarx
RunState runState = RunState::scannerFinalize;
RunningTask<SickLaserScanDevice>::pointer_type task;
sick_scan::SickScanConfig cfg;
+ //SickScanAdapter* scanner;
sick_scan::SickScanCommonTcp* scanner;
sick_scan::SickGenericParser* parser;
int result = sick_scan::ExitError;
@@ -168,9 +166,9 @@ namespace armarx
std::string scannerType = "sick_tim_5xx";
int deviceNumber = 0;
double angleOffset = 0.0;
- double rangeMin;
- double rangeMax;
- double timeIncrement;
+ double rangeMin = 0.0;
+ double rangeMax = 10.0;
+ double timeIncrement = 0.1;
//additional parameters
bool emulSensor = false;
};
--
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