C++ ArSensorReading::newData方法代码示例

/**
  This is the packet handler for the PB9 data, which is sent via the micro
  controller, to the client.  This will read the data from the packets,
  and then call processReadings to filter add the data to the current and
  cumulative buffers.
*/
AREXPORT bool ArIrrfDevice::packetHandler(ArRobotPacket *packet)
{
  int /*portNum,*/ i, dist, packetCounter;
  double conv;
  ArTransform packetTrans;
  std::list<ArSensorReading *>::iterator it;
  ArSensorReading *reading;
  ArPose pose;
  ArTransform encoderTrans;
  ArPose encoderPose;

  pose = myRobot->getPose();
  conv = 2.88;

  packetTrans.setTransform(pose);
  packetCounter = myRobot->getCounter();

  if (packet->getID() != 0x10)
    return false;

  // Which Aux port the IRRF is connected to
  //portNum =
  packet->bufToByte2();
  encoderTrans = myRobot->getEncoderTransform();
  encoderPose = encoderTrans.doInvTransform(pose);

  i = 0;
  for (i=0, it = myRawReadings->begin();it != myRawReadings->end();it++, i++)
  {
    reading = (*it);
    dist = (int) ((packet->bufToUByte2()) / conv);
    reading->newData(dist, pose, encoderPose, packetTrans, packetCounter, packet->getTimeReceived());
  }

  myLastReading.setToNow();

  processReadings();

  return true;
}

void ArUrg::sensorInterp(void)
{
  ArTime readingRequested;
  std::string reading;
  myReadingMutex.lock();
  if (myReading.empty())
  {
    myReadingMutex.unlock();
    return;
  }

  readingRequested = myReadingRequested;
  reading = myReading;
  myReading = "";
  myReadingMutex.unlock();

  ArTime time = readingRequested;
  ArPose pose;
  int ret;
  int retEncoder;
  ArPose encoderPose;

  //time.addMSec(-13);
  if (myRobot == NULL || !myRobot->isConnected())
  {
    pose.setPose(0, 0, 0);
    encoderPose.setPose(0, 0, 0);
  } 
  else if ((ret = myRobot->getPoseInterpPosition(time, &pose)) < 0 ||
	   (retEncoder = 
	    myRobot->getEncoderPoseInterpPosition(time, &encoderPose)) < 0)
  {
    ArLog::log(ArLog::Normal, "%s: reading too old to process", getName());
    return;
  }

  ArTransform transform;
  transform.setTransform(pose);

  unsigned int counter = 0; 
  if (myRobot != NULL)
    counter = myRobot->getCounter();

  lockDevice();
  myDataMutex.lock();

  //double angle;
  int i;
  int len = reading.size();

  int range;
  int big; 
  int little;
  //int onStep;

  std::list<ArSensorReading *>::reverse_iterator it;
  ArSensorReading *sReading;

  bool ignore;
  for (it = myRawReadings->rbegin(), i = 0; 
       it != myRawReadings->rend() && i < len - 1; 
       it++, i += 2)
  {
    ignore = false;
    big = reading[i] - 0x30;
    little = reading[i+1] - 0x30;
    range = (big << 6 | little);
    if (range < 20)
    {
      /* Well that didn't work...
      // if the range is 1 to 5 that means it has low intensity, which
      // could be black or maybe too far... try ignoring it and see if
      // it helps with too much clearing
      if (range >= 1 || range <= 5)
	ignore = true;
      */
      range = 4096;
    }
    sReading = (*it);
    sReading->newData(range, pose, encoderPose, transform, counter, 
		      time, ignore, 0);
  }

  myDataMutex.unlock();

  laserProcessReadings();
  unlockDevice();
}

//.........这里部分代码省略.........
			continue;
		}

		// If we don't have any sensor readings created at all, make 'em all
		if (myRawReadings->size() == 0) {
			for (j = 0; j < eachNumberData; j++) {
				myRawReadings->push_back(new ArSensorReading);
			}
		}

		if (eachNumberData > myRawReadings->size())
		{
			ArLog::log(ArLog::Terse,
					"%s::sensorInterp() Bad data, in theory have %d readings but can only have 751... skipping this packet",
					getName(), eachNumberData);

			// PS 12/6/12 - unlock and delete before continuing

			delete packet;
			myDataMutex.unlock();
			unlockDevice();
			continue;
		}

		std::list<ArSensorReading *>::iterator it;
		double atDeg;
		int onReading;

		double start;
		double increment;

		eachAngularStepWidth = .36;

		if (myFlipped) {
			start = mySensorPose.getTh() + 135;
			increment = -eachAngularStepWidth;
		} else {
			start = -(mySensorPose.getTh() + 135);
			increment = eachAngularStepWidth;
		}

		int readingIndex;
		bool ignore = false;

		for (atDeg = start,
				it = myRawReadings->begin(),
				readingIndex = 0,
				onReading = 0;

				onReading < eachNumberData;

				atDeg += increment,
				it++,
				readingIndex++,
				onReading++)
		{


			reading = (*it);

			dist = (((buf[readingIndex * 2] & 0x3f)<< 8) | (buf[(readingIndex * 2) + 1]));

			// note max distance is 16383 mm, if the measurement
			// object is not there, distance will still be 16383
            /*
			ArLog::log(ArLog::Normal,
			"reading %d first half = 0x%x, second half = 0x%x dist =  %d",
			readingIndex, buf[(readingIndex *2)+1], buf[readingIndex], dist);
            */

			reading->resetSensorPosition(ArMath::roundInt(mySensorPose.getX()),
					ArMath::roundInt(mySensorPose.getY()), atDeg);
			reading->newData(dist, pose, encoderPose, transform, counter, time,
					ignore, 0); // no reflector yet

			//printf("dist = %d, pose = %d, encoderPose = %d, transform = %d, counter = %d, time = %d, igore = %d",
			//		dist, pose, encoderPose, transform, counter,
			//					 time, ignore);
		}
/*
		 ArLog::log(ArLog::Normal,
		 "Received: %s %s scan %d numReadings %d", 
		 packet->getCommandType(), packet->getCommandName(), 
		 myScanCounter, onReading);
*/

		myDataMutex.unlock();

		/*
		ArLog::log(
				ArLog::Terse,
				"%s::sensorInterp() Telegram number =  %d  ",
				getName(),  packet->getTelegramNumByte2());
		 */

		laserProcessReadings();
		unlockDevice();
		delete packet;
	}
}

void ArUrg_2_0::sensorInterp(void)
{
  ArTime readingRequested;
  std::string reading;
  myReadingMutex.lock();
  if (myReading.empty())
  {
    myReadingMutex.unlock();
    return;
  }

  readingRequested = myReadingRequested;
  reading = myReading;
  myReading = "";
  myReadingMutex.unlock();

  ArTime time = readingRequested;
  ArPose pose;
  int ret;
  int retEncoder;
  ArPose encoderPose;

  //time.addMSec(-13);
  if (myRobot == NULL || !myRobot->isConnected())
  {
    pose.setPose(0, 0, 0);
    encoderPose.setPose(0, 0, 0);
  } 
  else if ((ret = myRobot->getPoseInterpPosition(time, &pose)) < 0 ||
	   (retEncoder = 
	    myRobot->getEncoderPoseInterpPosition(time, &encoderPose)) < 0)
  {
    ArLog::log(ArLog::Normal, "%s: reading too old to process", getName());
    return;
  }

  ArTransform transform;
  transform.setTransform(pose);

  unsigned int counter = 0; 
  if (myRobot != NULL)
    counter = myRobot->getCounter();

  lockDevice();
  myDataMutex.lock();

  //double angle;
  int i;
  int len = reading.size();

  int range;
  int giant;
  int big; 
  int little;
  //int onStep;

  std::list<ArSensorReading *>::reverse_iterator it;
  ArSensorReading *sReading;
  
  int iMax;
  int iIncr;

  if (myUseThreeDataBytes)
  {
    iMax = len - 2;
    iIncr = 3;
  }
  else
  {
    iMax = len - 1;
    iIncr = 2;
  }

  bool ignore;
  for (it = myRawReadings->rbegin(), i = 0; 
       it != myRawReadings->rend() && i < iMax; //len - 2; 
       it++, i += iIncr) //3)
  {
    ignore = false;

    if (myUseThreeDataBytes)
    {
      giant = reading[i] - 0x30;
      big = reading[i+1] - 0x30;
      little = reading[i+2] - 0x30;
      range = (giant << 12 | big << 6 | little);
    }
    else
    {
      big = reading[i] - 0x30;
      little = reading[i+1] - 0x30;
      range = (big << 6 | little);
    }
    
    if (range < myDMin)
      range = myDMax+1;

    sReading = (*it);
    sReading->newData(range, pose, encoderPose, transform, counter, 
		      time, ignore, 0);
//.........这里部分代码省略.........

//.........这里部分代码省略.........
      */

      /*
      printf("\t\t%s\tscl %d %d ang %g %g num %d\n", 
	     eachChanMeasured, 
	     eachScalingFactor, eachScalingOffset, 
	     eachStartingAngle, eachAngularStepWidth, 
	     eachNumberData);
      */
      // If we don't have any sensor readings created at all, make 'em all 
      if (myRawReadings->size() == 0)
	for (i = 0; i < eachNumberData; i++)
	  myRawReadings->push_back(new ArSensorReading);

      if (eachNumberData > myRawReadings->size())
      {
	ArLog::log(ArLog::Terse, "%s: Bad data, in theory have %d readings but can only have 541... skipping this packet\n", getName(), eachNumberData);
	printf("%s\n", packet->getBuf());
	continue;
      }
      
      std::list<ArSensorReading *>::iterator it;
      double atDeg;
      int onReading;

      double start;
      double increment;
      
      if (myFlipped)
      {
	start = mySensorPose.getTh() + eachStartingAngle - 90.0 + eachAngularStepWidth * eachNumberData;
	increment = -eachAngularStepWidth;
      }
      else
      {
	start = mySensorPose.getTh() + eachStartingAngle - 90.0;
	increment = eachAngularStepWidth;
      }
	
      bool ignore;
      for (//atDeg = mySensorPose.getTh() + eachStartingAngle - 90.0,
	   //atDeg = mySensorPose.getTh() + eachStartingAngle - 90.0 + eachAngularStepWidth * eachNumberData,
	   atDeg = start,
	   it = myRawReadings->begin(),
	   onReading = 0; 
	   
	   onReading < eachNumberData; 
	   
	   //atDeg += eachAngularStepWidth,
	   //atDeg -= eachAngularStepWidth,
	   atDeg += increment,
	   it++,
	   onReading++)
      {
	ignore = false;

	if (atDeg < getStartDegrees() || atDeg > getEndDegrees())
	  ignore = true;

	reading = (*it);
	dist = packet->bufToUByte2();

	if (dist == 0)
	{
	  ignore = true;
	}
	
	/*
	else if (!ignore && dist < 150)
	{
	  //ignore = true;

	  ArLog::log(ArLog::Normal, "%s: Reading at %.1f %s is %d (not ignoring, just warning)", 
		     getName(), atDeg, 
		     eachChanMeasured, dist);
	}
	*/

	reading->resetSensorPosition(ArMath::roundInt(mySensorPose.getX()),
				     ArMath::roundInt(mySensorPose.getY()),
				     atDeg); 
	reading->newData(dist, pose, encoderPose, transform, counter, 
			 time, ignore, 0); // no reflector yet
      }
      /*
      ArLog::log(ArLog::Normal, 
		 "Received: %s %s scan %d numReadings %d", 
		 packet->getCommandType(), packet->getCommandName(), 
		 myScanCounter, onReading);
      */
    }
    
    myDataMutex.unlock(); 

    
    laserProcessReadings();
    unlockDevice();
    delete packet;
  }
}