org.myrobotlab.service

Class Lidar

java.lang.Object

org.myrobotlab.framework.MessageService

org.myrobotlab.framework.Service

org.myrobotlab.service.Lidar

All Implemented Interfaces:

java.io.Serializable, java.lang.Runnable, Attachable, Invoker, LoggingSink, MessageSender, MessageSubscriber, NameProvider, NameTypeProvider, ServiceInterface, ServiceQueue, StateSaver, TypeProvider, PortListener, QueueReporter, SerialDataListener

public class Lidar
extends Service
implements SerialDataListener

See Also:

Serialized Form

Field Summary

Fields

Modifier and Type	Field and Description
java.io.ByteArrayOutputStream	buffer
int	dataMessageSize
static org.slf4j.Logger	log
static java.lang.String	MODEL_SICK_LMS200
Serial	serial
java.lang.String	serialName
static java.lang.String	STATE_INITIALIZATION_STAGE_1
static java.lang.String	STATE_INITIALIZATION_STAGE_2
static java.lang.String	STATE_INITIALIZATION_STAGE_3
static java.lang.String	STATE_INITIALIZATION_STAGE_4
static java.lang.String	STATE_MODE_CHANGE
static java.lang.String	STATE_NOMINAL
static java.lang.String	STATE_PRE_INITIALIZATION
static java.lang.String	STATE_SINGLE_SCAN

Fields inherited from class org.myrobotlab.framework.Service

cfgDir, dnaPool, MESSAGE_RECORDING_FORMAT_BINARY, MESSAGE_RECORDING_FORMAT_XML

Constructor Summary

Constructors

Constructor and Description
Lidar(java.lang.String n)

Method Summary

Modifier and Type	Method and Description
void	connect(java.lang.String port)
boolean	connect(java.lang.String port, int baud)
boolean	disconnect()
static ServiceType	getMetaData() This static method returns all the details of the class without it having to be constructed.
Serial	getSerial()
static void	main(java.lang.String[] args)
java.lang.Integer	onByte(java.lang.Integer b)
void	onConnect(java.lang.String portName)
void	onDisconnect(java.lang.String portName)
int[]	publishLidarData()
boolean	reconnectSerial()
void	setBaud(int baudRate)
void	setModel(java.lang.String m)
void	setScanMode(int spread, float angularResolution)
boolean	setToCM()
boolean	setToMM()
void	singleScan()
void	startService()
void	write(byte[] command)

Methods inherited from class org.myrobotlab.framework.Service

addListener, addListener, addTask, addTask, addTask, addTaskOneShot, allowDisplay, allowDisplay, attach, attach, broadcastState, buildDna, buildDna, buildDnaKeys, buildDnaNames, clearLastError, close, containsTask, copyShallowFrom, createPeer, createPeer, createRootReserved, detach, detach, detach, echoHeartbeat, error, error, error, getAttached, getCfgDir, getComm, getDeclaredMethodNames, getDeclaredMethods, getDescription, getDna, getDnaString, getHostName, getInbox, getInstanceId, getIntanceName, getInterfaceSet, getLastError, getMessageSet, getMetaData, getMethodMap, getMethodNames, getMethods, getMethodToolTip, getMsg, getName, getNotifyList, getNotifyListKeySet, getOutbox, getPeerKey, getPeerName, getServiceResourceFile, getSimpleName, getTasks, getThisThread, getType, hasError, hasPeers, help, help, in, info, info, invoke, invoke, invoke, invokeOn, isAttached, isAttached, isLocal, isReady, isRunning, isRuntime, isVirtual, load, load, logTimeEnable, mergeDna, mergeDna, mergePeerDna, movePeerDna, out, out, preProcessHook, preRoutingHook, publishError, publishQueueStats, publishState, publishStats, publishStatus, purgeTask, purgeTasks, releasePeers, releaseService, removeAllListeners, removeListener, requiresSecurity, reserve, reserve, reserveRoot, reserveRoot, reserveRootAs, run, save, save, save, send, send, send, send, sendBlocking, sendBlocking, sendBlocking, sendBlocking, sendPeer, setInstanceId, setName, setPeer, setSecurityProvider, setState, setThisThread, setVirtual, sleep, stackToString, startHeartbeat, startPeer, startPeer, startRecording, stopHeartbeat, stopMsgRecording, stopService, subscribe, subscribe, subscribe, toString, unsubscribe, unsubscribe, unsubscribe, updateStats, warn, warn

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

Methods inherited from interface org.myrobotlab.service.interfaces.QueueReporter

publishStats, updateStats

Methods inherited from interface org.myrobotlab.framework.interfaces.NameProvider

getName

Field Detail

log

public static final org.slf4j.Logger log

MODEL_SICK_LMS200

public static final java.lang.String MODEL_SICK_LMS200

See Also:

Constant Field Values

serialName

public java.lang.String serialName

serial

public transient Serial serial

buffer

public transient java.io.ByteArrayOutputStream buffer

STATE_PRE_INITIALIZATION

public static final java.lang.String STATE_PRE_INITIALIZATION

See Also:

Constant Field Values

STATE_INITIALIZATION_STAGE_1

public static final java.lang.String STATE_INITIALIZATION_STAGE_1

See Also:

Constant Field Values

STATE_INITIALIZATION_STAGE_2

public static final java.lang.String STATE_INITIALIZATION_STAGE_2

See Also:

Constant Field Values

STATE_INITIALIZATION_STAGE_3

public static final java.lang.String STATE_INITIALIZATION_STAGE_3

See Also:

Constant Field Values

STATE_INITIALIZATION_STAGE_4

public static final java.lang.String STATE_INITIALIZATION_STAGE_4

See Also:

Constant Field Values

STATE_SINGLE_SCAN

public static final java.lang.String STATE_SINGLE_SCAN

See Also:

Constant Field Values

STATE_MODE_CHANGE

public static final java.lang.String STATE_MODE_CHANGE

See Also:

Constant Field Values

STATE_NOMINAL

public static final java.lang.String STATE_NOMINAL

See Also:

Constant Field Values

dataMessageSize

public int dataMessageSize

Constructor Detail

Lidar

public Lidar(java.lang.String n)

Method Detail

main

public static void main(java.lang.String[] args)

onByte

public java.lang.Integer onByte(java.lang.Integer b)
                         throws java.io.IOException

Specified by:

onByte in interface SerialDataListener

Throws:

java.io.IOException

connect

public void connect(java.lang.String port)
             throws java.io.IOException

Throws:

java.io.IOException

connect

public boolean connect(java.lang.String port,
                       int baud)
                throws java.io.IOException

Throws:

java.io.IOException

disconnect

public boolean disconnect()

getSerial

public Serial getSerial()

publishLidarData

public int[] publishLidarData()

reconnectSerial

public boolean reconnectSerial()
                        throws java.io.IOException

Throws:

java.io.IOException

setBaud

public void setBaud(int baudRate)
             throws java.lang.Exception

Throws:

java.lang.Exception

setModel

public void setModel(java.lang.String m)

setScanMode

public void setScanMode(int spread,
                        float angularResolution)
                 throws java.lang.Exception

Throws:

java.lang.Exception

setToCM

public boolean setToCM()

setToMM

public boolean setToMM()

singleScan

public void singleScan()
                throws java.lang.Exception

Throws:

java.lang.Exception

startService

public void startService()

Specified by:

startService in interface ServiceInterface

Overrides:

startService in class Service

write

public void write(byte[] command)
           throws java.lang.Exception

Throws:

java.lang.Exception

onConnect

public void onConnect(java.lang.String portName)

Specified by:

onConnect in interface PortListener

onDisconnect

public void onDisconnect(java.lang.String portName)

Specified by:

onDisconnect in interface PortListener

getMetaData

public static ServiceType getMetaData()

This static method returns all the details of the class without it having to be constructed. It has description, categories, dependencies, and peer definitions.

Returns:

ServiceType - returns all the data