From dbc8eead57420e36a595f6b85d2849836b0fa0d2 Mon Sep 17 00:00:00 2001
From: Johann Mantel <j-mantel@gmx.net>
Date: Wed, 28 Jul 2021 15:26:59 +0200
Subject: [PATCH] reduce variable count
---
.../drivers/SickLaserUnit/SickLaserUnit.cpp | 53 +++---
.../drivers/SickLaserUnit/SickLaserUnit.h | 165 +++++++++---------
2 files changed, 111 insertions(+), 107 deletions(-)
diff --git a/source/RobotAPI/drivers/SickLaserUnit/SickLaserUnit.cpp b/source/RobotAPI/drivers/SickLaserUnit/SickLaserUnit.cpp
index fbfe25bdd..5498ee1d8 100644
--- a/source/RobotAPI/drivers/SickLaserUnit/SickLaserUnit.cpp
+++ b/source/RobotAPI/drivers/SickLaserUnit/SickLaserUnit.cpp
@@ -91,20 +91,18 @@ namespace armarx
ARMARX_INFO_S << "Start initialising scanner [Ip: " << this->ip
<< "] [Port: " << this->port << "]";
// attempt to connect/reconnect
- delete this->scanner; // disconnect scanner
- if (this->useTcp)
+ if (this->scanner)
{
- this->scanner = new SickScanAdapter(this->ip, this->port, this->timelimit, this->parser, 'A');
+ ARMARX_WARNING_S << "Scanner already initized.";
+ delete this->scanner; // disconnect scanner
}
- else
- {
- ARMARX_ERROR_S << "TCP is not switched on. Probably hostname or port not set.\n";
- return;
- }
- result = this->scanner->init();
+
+ this->scanner = new SickScanAdapter(this->ip, this->port, this->timelimit, this->parser, 'A');
+
+ this->result = this->scanner->init();
- if (result == sick_scan::ExitSuccess) // OK -> loop again
+ if (this->result == sick_scan::ExitSuccess) // OK -> loop again
{
this->isSensorInitialized = true;
ARMARX_INFO_S << "Scanner initialized.";
@@ -126,12 +124,12 @@ namespace armarx
// def->topic(myTopicListener);
// Subscribe to a topic (passing the topic name).
- def->topic<LaserScannerUnitListenerPrx>(properties.topicName);
+ //def->topic<LaserScannerUnitListenerPrx>(properties.topicName);
// Use (and depend on) another component (passing the ComponentInterfacePrx).
// def->component(myComponentProxy)
- def->optional(properties.topicName, "topicName", "Name of the topic");
+ def->topic(topic, properties.topicName, "TopicName", "Name of the laserscanner topic to report to.");
//Scanner parameters
def->optional(properties.devices, "devices", "List of Devices in format frame1,ip1,port1;frame2,ip2,port2");
def->optional(properties.scannerType, "scannerType", "Name of the LaserScanner");
@@ -145,8 +143,8 @@ namespace armarx
{
// Topics and properties defined above are automagically registered.
- offeringTopic(properties.topicName);
- ARMARX_INFO_S << "SickLaserUnit is going to report on topic " << properties.topicName;
+ //offeringTopic(properties.topicName);
+ //ARMARX_INFO_S << "SickLaserUnit is going to report on topic " << properties.topicName;
// Keep debug observer data until calling `sendDebugObserverBatch()`.
// (Requies the armarx::DebugObserverComponentPluginUser.)
// setDebugObserverBatchModeEnabled(true);
@@ -169,21 +167,23 @@ namespace armarx
device.frameName = deviceInfo[0];
if (deviceInfo[1] != "")
{
- device.useTcp = true;
device.ip = deviceInfo[1];
}
+ else
+ {
+ ARMARX_FATAL << "TCP is not switched on. Probably hostname or port not set.";
+ return;
+
+ }
device.port = deviceInfo[2];
- device.scannerType = properties.scannerType;
device.timelimit = properties.timelimit;
- device.rangeMin = properties.rangeMin;
- device.rangeMax = properties.rangeMax;
//scanInfo
device.scanInfo.device = device.ip;
device.scanInfo.frame = device.frameName;
//scanner Parameters
try
{
- device.parser = new sick_scan::SickGenericParser(device.scannerType);
+ device.parser = new sick_scan::SickGenericParser(properties.scannerType);
device.parser->set_range_min(properties.rangeMin);
device.parser->set_range_max(properties.rangeMax);
device.parser->getCurrentParamPtr()->setUseBinaryProtocol(false);
@@ -201,7 +201,7 @@ namespace armarx
void SickLaserUnit::onConnectComponent()
{
- topic = getTopic<LaserScannerUnitListenerPrx>(properties.topicName);
+ //topic = getTopic<LaserScannerUnitListenerPrx>(properties.topicName);
for (SickLaserScanDevice& device : scanDevices)
{
@@ -209,6 +209,7 @@ namespace armarx
//start the laser scanner
if (device.task)
{
+ ARMARX_WARNING << "this should not happen.";
device.task->stop();
device.task = nullptr;
}
@@ -240,6 +241,14 @@ namespace armarx
device.task->stop();
device.task = nullptr;
}
+ }
+ }
+
+ void SickLaserUnit::onExitComponent()
+ {
+ for (SickLaserScanDevice& device : scanDevices)
+ {
+
if (device.scanner)
{
delete device.scanner;
@@ -249,9 +258,9 @@ namespace armarx
delete device.parser;
}
}
- }
- void SickLaserUnit::onExitComponent() {}
+
+ }
std::string SickLaserUnit::getDefaultName() const
{
diff --git a/source/RobotAPI/drivers/SickLaserUnit/SickLaserUnit.h b/source/RobotAPI/drivers/SickLaserUnit/SickLaserUnit.h
index 9bbc4fa64..f6ffc67a1 100644
--- a/source/RobotAPI/drivers/SickLaserUnit/SickLaserUnit.h
+++ b/source/RobotAPI/drivers/SickLaserUnit/SickLaserUnit.h
@@ -41,45 +41,40 @@ namespace armarx
enum class ScanProtocol
{
- ASCII,
- Binary
+ ASCII,
+ Binary
};
enum class RunState
{
- scannerInit,
- scannerRun,
- scannerFinalize
+ scannerInit,
+ scannerRun,
+ scannerFinalize
};
struct SickLaserScanDevice
{
- //scanner parameters
- std::string scannerType = "sick_tim_5xx";
- //communication parameters
- std::string ip;
- std::string port;
- int timelimit = 5;
- double rangeMin = 0.0;
- double rangeMax = 10.0;
- bool useTcp = false;
- //data and task pointers
- IceUtil::Time scanTime;
- LaserScan scanData;
- LaserScannerInfo scanInfo;
- int initCnt = 0;
- RunState runState = RunState::scannerFinalize;
- RunningTask<SickLaserScanDevice>::pointer_type task;
- std::string frameName = "LaserScannerFront";
- LaserScannerUnitListenerPrx scanTopic;
- //scanner pointers
- sick_scan::SickGenericParser* parser;
- SickScanAdapter* scanner;
- int result = sick_scan::ExitError;
- bool isSensorInitialized = false;
-
- void initScanner();
- void run();
+ //communication parameters
+ std::string ip;
+ std::string port;
+ int timelimit = 5;
+ //data and task pointers
+ IceUtil::Time scanTime;
+ LaserScan scanData;
+ LaserScannerInfo scanInfo;
+ int initCnt = 0;
+ RunState runState = RunState::scannerFinalize;
+ RunningTask<SickLaserScanDevice>::pointer_type task;
+ std::string frameName = "LaserScannerFront";
+ LaserScannerUnitListenerPrx scanTopic;
+ //scanner pointers
+ sick_scan::SickGenericParser* parser = 0;
+ SickScanAdapter* scanner = 0;
+ int result = sick_scan::ExitError;
+ bool isSensorInitialized = false;
+
+ void initScanner();
+ void run();
};
/**
* @defgroup Component-SickLaserUnit SickLaserUnit
@@ -94,74 +89,74 @@ namespace armarx
*/
class SickLaserUnit :
//virtual public armarx::LaserScannerUnitInterface,
- virtual public armarx::Component
+ virtual public armarx::Component
// , virtual public armarx::DebugObserverComponentPluginUser
// , virtual public armarx::LightweightRemoteGuiComponentPluginUser
// , virtual public armarx::ArVizComponentPluginUser
{
public:
- /// @see armarx::ManagedIceObject::getDefaultName()
- std::string getDefaultName() const override;
+ /// @see armarx::ManagedIceObject::getDefaultName()
+ std::string getDefaultName() const override;
protected:
- /// @see PropertyUser::createPropertyDefinitions()
- armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
+ /// @see PropertyUser::createPropertyDefinitions()
+ armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
- /// @see armarx::ManagedIceObject::onInitComponent()
- void onInitComponent() override;
+ /// @see armarx::ManagedIceObject::onInitComponent()
+ void onInitComponent() override;
- /// @see armarx::ManagedIceObject::onConnectComponent()
- void onConnectComponent() override;
+ /// @see armarx::ManagedIceObject::onConnectComponent()
+ void onConnectComponent() override;
- /// @see armarx::ManagedIceObject::onDisconnectComponent()
- void onDisconnectComponent() override;
+ /// @see armarx::ManagedIceObject::onDisconnectComponent()
+ void onDisconnectComponent() override;
- /// @see armarx::ManagedIceObject::onExitComponent()
- void onExitComponent() override;
+ /// @see armarx::ManagedIceObject::onExitComponent()
+ void onExitComponent() override;
private:
- // Private methods go here.
+ // Private methods go here.
private:
- // Private member variables go here.
-
- /// Properties shown in the Scenario GUI.
- struct Properties
- {
- std::string topicName = "SICKLaserScanner";
- //scanner parameters
- std::string devices = "LaserScannerFront,192.168.8.133,2112";
- std::string scannerType = "sick_tim_5xx";
- int timelimit = 5;
- double rangeMin = 0.0;
- double rangeMax = 10.0;
- };
- Properties properties;
- std::vector<SickLaserScanDevice> scanDevices;
- LaserScannerUnitListenerPrx topic;
- //HeartbeatComponentPlugin heartbeat;
-
- /* Use a mutex if you access variables from different threads
- * (e.g. ice functions and RemoteGui_update()).
- std::mutex propertiesMutex;
- */
-
- /* (Requires the armarx::LightweightRemoteGuiComponentPluginUser.)
- /// Tab shown in the Remote GUI.
- struct RemoteGuiTab : armarx::RemoteGui::Client::Tab
- {
- armarx::RemoteGui::Client::LineEdit boxLayerName;
- armarx::RemoteGui::Client::IntSpinBox numBoxes;
-
- armarx::RemoteGui::Client::Button drawBoxes;
- };
- RemoteGuiTab tab;
- */
-
- /* (Requires the armarx::ArVizComponentPluginUser.)
- * When used from different threads, an ArViz client needs to be synchronized.
- /// Protects the arviz client inherited from the ArViz plugin.
- std::mutex arvizMutex;
- */
+ // Private member variables go here.
+
+ /// Properties shown in the Scenario GUI.
+ struct Properties
+ {
+ std::string topicName = "SICKLaserScanner";
+ //scanner parameters
+ std::string devices = "LaserScannerFront,192.168.8.133,2112";
+ std::string scannerType = "sick_tim_5xx";
+ int timelimit = 5;
+ double rangeMin = 0.0;
+ double rangeMax = 10.0;
+ };
+ Properties properties;
+ std::vector<SickLaserScanDevice> scanDevices;
+ LaserScannerUnitListenerPrx topic;
+ //HeartbeatComponentPlugin heartbeat;
+
+ /* Use a mutex if you access variables from different threads
+ * (e.g. ice functions and RemoteGui_update()).
+ std::mutex propertiesMutex;
+ */
+
+ /* (Requires the armarx::LightweightRemoteGuiComponentPluginUser.)
+ /// Tab shown in the Remote GUI.
+ struct RemoteGuiTab : armarx::RemoteGui::Client::Tab
+ {
+ armarx::RemoteGui::Client::LineEdit boxLayerName;
+ armarx::RemoteGui::Client::IntSpinBox numBoxes;
+
+ armarx::RemoteGui::Client::Button drawBoxes;
+ };
+ RemoteGuiTab tab;
+ */
+
+ /* (Requires the armarx::ArVizComponentPluginUser.)
+ * When used from different threads, an ArViz client needs to be synchronized.
+ /// Protects the arviz client inherited from the ArViz plugin.
+ std::mutex arvizMutex;
+ */
};
} // namespace armarx
--
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