/usr/include/Aria/ArLCDConnector.h is in libaria-dev 2.8.0+repack-1.2ubuntu1.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
If you wish to redistribute ARIA under different terms, contact
Adept MobileRobots for information about a commercial version of ARIA at
robots@mobilerobots.com or
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#ifndef ARLCDCONNECTOR_H
#define ARLCDCONNECTOR_H
#include "ariaTypedefs.h"
#include "ArSerialConnection.h"
#include "ArTcpConnection.h"
#include "ArArgumentBuilder.h"
#include "ArArgumentParser.h"
#include "ariaUtil.h"
#include "ArRobotConnector.h"
class ArLCDMTX;
class ArRobot;
/// Connect to robot and lcd based on run-time availablitily and command-line arguments
/**
ArLCDConnector makes a lcd connection either through a serial port
connection, or through a TCP
port (for the simulator or for robots with Ethernet-serial bridge
devices instead of onboard computers).
Normally, it first attempts a TCP connection on
@a localhost port 8101, to use a simulator if running. If the simulator
is not running, then it normally then connects using the serial port
Various connection
parameters are configurable through command-line arguments or in the robot
parameter file. (Though the internal interface used by ARIA to do this is also
available if you need to use it: See addLCD(); otherwise don't use
addLCD(), setupLCD(), etc.).
When you create your ArLCDConnector, 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()).
ArLCDConnector 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:
@verbinclude ArLCDConnector_options
To connect to any lcds that were set up in the robot parameter file or
via command line arguments, call connectLCDs(). If successful,
connectLCDs() will return true and add an entry for each lcd connected
in the ArRobot object's list of lcds. These ArLCDMTX objects can be
accessed from your ArRobot object via ArRobot::findLCD() or ArRobot::getLCDMap().
@since 2.8.0
**/
class ArLCDConnector
{
public:
/// Constructor that takes argument parser
AREXPORT ArLCDConnector(
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);
/// Destructor
AREXPORT ~ArLCDConnector(void);
/// Connects all the lcds the robot has that should be auto connected
AREXPORT bool connectLCDs(bool continueOnFailedConnect = false,
bool addConnectedLCDsToRobot = true,
bool addAllLCDsToRobot = false,
bool turnOnLCDs = true,
bool powerCycleLCDOnFailedConnect = true);
/// Sets up a lcd to be connected
AREXPORT bool setupLCD(ArLCDMTX *lcd,
int lcdNumber = 1);
/// Connects the lcd synchronously (will take up to a minute)
AREXPORT bool connectLCD(ArLCDMTX *lcd,
int lcdNumber = 1,
bool forceConnection = true);
/// Adds a lcd so parsing will get it
AREXPORT bool addLCD(ArLCDMTX *lcd,
int lcdNumber = 1);
/// Function to parse the arguments given in the constructor
AREXPORT bool parseArgs(void);
/// Function to parse the arguments given in an arbitrary parser
AREXPORT bool parseArgs(ArArgumentParser *parser);
/// Log the options the simple connector has
AREXPORT void logOptions(void) const;
/// Internal function to get the lcd (only useful between parseArgs and connectLCDs)
AREXPORT ArLCDMTX *getLCD(int lcdNumber);
/// Internal function to replace the lcd (only useful between parseArgs and connectLCDs) but not the lcd data
AREXPORT bool replaceLCD(ArLCDMTX *lcd, int lcdNumber);
AREXPORT void turnOnPowerCB (int);
AREXPORT void turnOffPowerCB (int);
AREXPORT void setIdentifier(const char *identifier);
protected:
/// Class that holds information about the lcd data
class LCDData
{
public:
LCDData (int number, ArLCDMTX *lcd) {
myNumber = number;
myLCD = lcd;
myConn = NULL;
myConnect = false; myConnectReallySet = false;
myPort = NULL;
myPortType = NULL;
myType = NULL;
myRemoteTcpPort = 0; myRemoteTcpPortReallySet = false;
myBaud = NULL;
myAutoConn = NULL;
myConnFailOption = NULL;
}
virtual ~LCDData() {}
/// The number of this lcd
int myNumber;
/// The actual pointer to this lcd
ArLCDMTX *myLCD;
// our connection
ArDeviceConnection *myConn;
// if we want to connect the lcd
bool myConnect;
// if myConnect was really set
bool myConnectReallySet;
// the port we want to connect the lcd on
const char *myPort;
// the type of port we want to connect to the lcd on
const char *myPortType;
// lcd Type
const char *myType;
// wheather to auto conn
const char *myAutoConn;
// wheather to disconnect on conn faiure
const char *myConnFailOption;
// lcd tcp port if we're doing a remote host
int myRemoteTcpPort;
// if our remote lcd tcp port was really set
bool myRemoteTcpPortReallySet;
/// the baud we want to use
const char *myBaud;
};
std::map<int, LCDData *> myLCDs;
/// Turns on the power for the specific board in the firmware
AREXPORT bool turnOnPower(LCDData *LCDData);
/// Turns off the power for the specific board in the firmware
AREXPORT bool turnOffPower(LCDData *LCDData);
/// Verifies the firmware version on the LCD and loads new firmware
/// if there is no match
AREXPORT bool verifyFirmware(LCDData *LCDData);
AREXPORT std::string searchForFile(
const char *dirToLookIn, const char *prefix, const char *suffix);
/// Parses the lcd arguments
AREXPORT bool parseLCDArgs(ArArgumentParser *parser,
LCDData *lcdData);
/// Logs the lcd command line option help text.
AREXPORT void logLCDOptions(LCDData *lcddata, bool header = true, bool metaOpts = true) const;
// Sets the lcd parameters
bool internalConfigureLCD(LCDData *lcdData);
std::string myLCDTypes;
// our parser
ArArgumentParser *myParser;
bool myOwnParser;
// if we should autoparse args or toss errors
bool myAutoParseArgs;
bool myParsedArgs;
ArRobot *myRobot;
ArRobotConnector *myRobotConnector;
// variables to hold if we're logging or not
bool myLCDLogPacketsReceived;
bool myLCDLogPacketsSent;
ArLog::LogLevel myInfoLogLevel;
ArRetFunctor1<bool, const char *> *myTurnOnPowerOutputCB;
ArRetFunctor1<bool, const char *> *myTurnOffPowerOutputCB;
ArRetFunctorC<bool, ArLCDConnector> myParseArgsCB;
ArConstFunctorC<ArLCDConnector> myLogOptionsCB;
ArFunctor1C<ArLCDConnector, int> myTurnOnPowerCB;
ArFunctor1C<ArLCDConnector, int> myTurnOffPowerCB;
};
#endif // ARLASERCONNECTOR_H
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