uwcse.location.objects.sick
Class LMS200Driver

java.lang.Object
  |
  +--com.intel.research.rain.Service
        |
        +--uwcse.location.LocationService
              |
              +--uwcse.location.FusionClientService
                    |
                    +--uwcse.location.objects.SensorDriver
                          |
                          +--uwcse.location.objects.sick.LMS200Driver

All Implemented Interfaces:

MessageHandler

public class LMS200Driver

extends SensorDriver

Driver for the SICK LMS200 series laser range finder.

Version:

$Revision: 1.2 $

Author:

Jeffrey Hightower

Nested Class Summary

 

Nested classes inherited from class uwcse.location.LocationService

LocationService.RediscoverServices

 

Field Summary
protected  String	m_laserName
protected  LMS200Driver.LMSPanel	m_lmsPanel
protected  boolean	m_logLocal
protected  OutputStream	m_outStream
protected  javax.comm.SerialPort	m_serialPort
protected  LMSSerialPortThread	m_serialPortThread
protected  int[]	m_values
protected  ProducerConsumerQueue	m_valuesQueue
protected  LMS200Driver.LMSValuesThread	m_valuesThread
protected  JFrame	m_visualFrame

 

Fields inherited from class uwcse.location.objects.SensorDriver

m_measurementSinkServiceIDSet, SINK_DISCOVERY_QUERY

 

Fields inherited from class uwcse.location.FusionClientService

FUSION_DISCOVERY_QUERY, m_fusionServiceIDSet

 

Fields inherited from class uwcse.location.LocationService

CONFIG_FILENAME, MESSAGE_ELEMENT, MESSAGE_EXTENSION, RPC_ELEMENT, RPC_EXCEPTION_ELEMENT, RPC_EXTENSION, RPC_RESULT_ELEMENT

 

Constructor Summary

LMS200Driver(String portName, String laserName, boolean logLocal)           Create a LMS200Driver for the given serial port name.

 

Method Summary
protected  void	closeSerialPort()           Close serial port and remove the event listener.
void	finalize()           Close the serial port if necessary before the object is reclaimed by the garbage collector.
protected  void	handleTerminalCommand(String cmd)           This routine is called to process command strings captured by runTerminalCommandLoop.
void	hideVisualization()           Hide the visualization window.
static void	main(String[] argv)
protected  void	openSerialPort(String portName)           Open the specified serial port at the given baud rate.
protected static void	printUsageAndExit()           Show the program argument usage and then exit.
void	showVisualization()           Display the visualization window.
protected  void	withdraw()           Overridden to close the serial port if necessary before withdrawing from Rain.

 

Methods inherited from class uwcse.location.objects.SensorDriver

sendMeasurement

 

Methods inherited from class uwcse.location.FusionClientService

callFusionServiceRpc, getFusionServiceIDSet

 

Methods inherited from class uwcse.location.LocationService

addObject, callLocationRpc, correctedTimeMillis, getObject, getSysclockError, multicastLocationMsg, multicastLocationMsgs, processLocationMsg, processLocationRpc, runTerminalCommandLoop, sendLocationMsg, sendLocationMsgs, setDescription

 

Methods inherited from class com.intel.research.rain.Service

getDaemon, getDispatcher, getServiceID, process, receive, setDaemon

 

Methods inherited from class java.lang.Object

clone, equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

 

Field Detail

m_serialPortThread

protected LMSSerialPortThread m_serialPortThread

m_valuesThread

protected LMS200Driver.LMSValuesThread m_valuesThread

m_serialPort

protected javax.comm.SerialPort m_serialPort

m_outStream

protected OutputStream m_outStream

m_laserName

protected String m_laserName

m_logLocal

protected boolean m_logLocal

m_valuesQueue

protected ProducerConsumerQueue m_valuesQueue

m_visualFrame

protected JFrame m_visualFrame

m_lmsPanel

protected LMS200Driver.LMSPanel m_lmsPanel

m_values

protected int[] m_values

LMS200Driver

public LMS200Driver(String portName,
                    String laserName,
                    boolean logLocal)
             throws RainException,
                    LocationException,
                    IOException

Create a LMS200Driver for the given serial port name.

Throws:

RainException

LocationException

IOException

showVisualization

public void showVisualization()

Display the visualization window.

hideVisualization

public void hideVisualization()

Hide the visualization window.

openSerialPort

protected void openSerialPort(String portName)
                       throws javax.comm.NoSuchPortException,
                              javax.comm.PortInUseException,
                              IOException,
                              javax.comm.UnsupportedCommOperationException,
                              TooManyListenersException

Open the specified serial port at the given baud rate.

Throws:

javax.comm.NoSuchPortException

javax.comm.PortInUseException

IOException

javax.comm.UnsupportedCommOperationException

TooManyListenersException

closeSerialPort

protected void closeSerialPort()

Close serial port and remove the event listener.

withdraw

protected void withdraw()

Overridden to close the serial port if necessary before withdrawing from Rain.

Overrides:

withdraw in class SensorDriver

finalize

public void finalize()

Close the serial port if necessary before the object is reclaimed by the garbage collector.

Overrides:

finalize in class Object

handleTerminalCommand

protected void handleTerminalCommand(String cmd)

Description copied from class: LocationService

This routine is called to process command strings captured by runTerminalCommandLoop. Classes extending LocationService may handle any command strings they wish except 'quit' (case insensitive) is a reserved command that causes the shell to exit.

Overrides:

handleTerminalCommand in class LocationService

See Also:

LocationService.runTerminalCommandLoop()

printUsageAndExit

protected static void printUsageAndExit()

Show the program argument usage and then exit.

main

public static void main(String[] argv)