ObstacleCheckThread Class Reference

Checks if there is an obstacle in front the robot. More...

#include <obstacleCheckThread.h>

Collaboration diagram for ObstacleCheckThread:

List of all members.

Public Slots
void	setIgnoreArea (short int laser, int area, int start, int end)
void	setMinObstacleDistance (int distance)
void	setMinObstacleDistanceLaserFront (int distance)
void	setMinObstacleDistanceLaserRear (int distance)
void	setPassageWidth (int width)
void	setSimulationMode (bool status)
void	setStraightForwardDeviation (int deviation)
void	systemerrorcatcher (int errorlevel)

Signals
void	message (QString text)
void	newDrivingAngleSet (int largestFreeAreaStart, int largestFreeAreaEnd, int centerOfFreeWay, float width)
void	obstacleDetected (int sensors, QDateTime timestamp)

Public Member Functions
void	init ()
	ObstacleCheckThread (SensorThread *s, LaserThread *l)
virtual void	run ()
void	stop ()
	~ObstacleCheckThread ()

Private Member Functions
double	calculateDriveThroughWidth (short int laserscanner, int alpha, float b, float c)

Private Attributes
int	actualFreeAreaEnd
int	actualFreeAreaStart
int	centerOfFreeWayFront
int	centerOfFreeWayRear
	this is user for laser1
QString	className
QList< int >	freeEndAreas
	This stores the free areas after a scan. These will than be analysed and the "best" is chosen.
QList< int >	freeStartAreas
	and this is the deviation to 90 degrees, when driving forward
bool	initCompleted
float	laserAngleFront
	stores the laser resolution when getting the value from the laser thread
float	laserAngleRear
	stores the laser angle when getting the value from the laser thread
float	laserResolutionFront
	this area will be ignored when there is an obstacle
float	laserResolutionRear
	stores the laser resolution when getting the value from the laser thread
int	laserscannerFrontIgnoreArea1End
	this area will be ignored when there is an obstacle
int	laserscannerFrontIgnoreArea1Start
	this is user for laser2
int	laserscannerFrontIgnoreArea2End
	this area will be ignored when there is an obstacle
int	laserscannerFrontIgnoreArea2Start
	this area will be ignored when there is an obstacle
int	laserscannerRearIgnoreArea1End
	this area will be ignored when there is an obstacle
int	laserscannerRearIgnoreArea1Start
	this area will be ignored when there is an obstacle
int	laserscannerRearIgnoreArea2End
	this area will be ignored when there is an obstacle
int	laserscannerRearIgnoreArea2Start
	this area will be ignored when there is an obstacle
LaserThread *	laserThread
int	minObstacleDistance
	see if the init method of this class was already called
int	minObstacleDistanceLaserFront
	if the measured distance from a sensor is smaller than this value, than we have an obstacle! This is for the old infrared sensors.
int	minObstacleDistanceLaserRear
	if the measured distance from a sensor is smaller than this value, than we have an obstacle! This is for laser scanner 1.
int	robotSlotWidth
	stores the laser angle when getting the value from the laser thread
unsigned char	sensorValue
	if the measured distance from a sensor is smaller than this value, than we have an obstacle! This is for laser scanner 2.
SensorThread *	sensThread
	this will contain the name of this class at runtime for debug messages
bool	simulationMode
volatile bool	stopped
int	straightForwardDeviation
	defines the minimum slot in centimeters (cm), where the robot has to fit through

Static Private Attributes
static const int	AREA1 = 1
static const int	AREA2 = 2
static const int	CENTEROFLARGESTFREEWAY = 3
static const int	FREEWAY = 0
	This stores the free areas after a scan. These will than be analysed and the "best" is chosen.
static const int	IGNORETHIS = 4
static const int	LARGESTFREEWAY = 2
static const short int	LASER1 = 1
static const short int	LASER2 = 2
static const short int	LASER3 = 4
static const short int	LASER4 = 8
static const short int	LASER5 = 16
static const short int	NONE = 0
static const int	OBSTACLE = 1
static const short int	OBSTACLEFRONTLEFT = 512
static const short int	OBSTACLEFRONTRIGHT = 1024
static const short int	OBSTACLESEVERYWHEREINFRONT = 2048
static const short int	SENSOR1 = 1
static const short int	SENSOR16 = 256
static const short int	SENSOR2 = 2
static const short int	SENSOR3 = 4
static const short int	SENSOR4 = 8
static const short int	SENSOR5 = 16
static const short int	SENSOR6 = 32
static const short int	SENSOR7 = 64
static const short int	SENSOR8 = 128
static const unsigned long	THREADSLEEPTIME = 50

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Detailed Description

Checks if there is an obstacle in front the robot.

Author:

Markus Knapp If there is an obstacle in front of the robot the robot ("forward"), the signal

See also:

obstacleDetected() will be emitted which contains the direction, where the obstacle is. e.g. OBSTACLEFRONTLEFT. If there is no obstacle, NONE is emitted. If there is no free way, OBSTACLESEVERYWHEREINFRONT is emitted. The signal

newDrivingAngleSet() with all some from the laserscanner is also emmited which shows where we should drive to. This for displaying them in the GUI.

Definition at line 49 of file obstacleCheckThread.h.

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Constructor & Destructor Documentation

ObstacleCheckThread::ObstacleCheckThread	(	SensorThread *	s,
		LaserThread *	l
	)

Definition at line 23 of file obstacleCheckThread.cpp.

ObstacleCheckThread::~ObstacleCheckThread

(

)

Definition at line 68 of file obstacleCheckThread.cpp.

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Member Function Documentation

double ObstacleCheckThread::calculateDriveThroughWidth ( short int  laserscanner, int  alpha, float  b, float  c  )

private

Calculate the width of the estimated drive-trough direction/area with the 'Kosinussatz' (a² = b² + c² - 2bc * cos alpha) where 'a' is the width

Parameters:

laserscanner	can be LASER1 or LASER2
alpha	is the angle
b	is one length
c	is the other length

Returns:

width

Definition at line 633 of file obstacleCheckThread.cpp.

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void ObstacleCheckThread::init

(

)

Init all important class members, get settings/parameters from laser or sensor thread.

Definition at line 73 of file obstacleCheckThread.cpp.

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void ObstacleCheckThread::message ( QString  text )

signal

Emits a info or error message to a slot. This slot can be used to display a text on a splash screen, log file, to print it to a console...

Parameters:

text	is the message to be emitted

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void ObstacleCheckThread::newDrivingAngleSet ( int  largestFreeAreaStart, int  largestFreeAreaEnd, int  centerOfFreeWay, float  width  )

signal

Emits a signal to set the angle where the robot can drive through.

Parameters:

largestFreeAreaStart	is the start angle of the largest free area.
largestFreeAreaEnd	is the end angle of the largest free area.
centerOfFreeWay	is the center of the largest free area.
width	of the estimated drive-trough area

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void ObstacleCheckThread::obstacleDetected ( int  sensors, QDateTime  timestamp  )

signal

Emits a signal to the logical unit of

See also:

Direcs

Parameters:

sensors	consists of the sum of all infrared and ultrasonic sensor numbers, which had an alarm.
timestamp	is the timestmap when the signal was emitted.

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void ObstacleCheckThread::run ( )

virtual

holds the first angle index

holds the last last angle index

this is for detecting the driving direction ("drive left" means "drive left from the middle of the laser")

Todo:

correct to reset the centerOfFreeway here?!?

Definition at line 116 of file obstacleCheckThread.cpp.

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void ObstacleCheckThread::setIgnoreArea ( short int  laser, int  area, int  start, int  end  )

slot

Set the laser area which will be ignored when checking for an obstacle.

Parameters:

laser	is the number of the laser
area	is the number of the area
start	is the start angle in degrees
end	is the end angle in degrees

Definition at line 667 of file obstacleCheckThread.cpp.

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void ObstacleCheckThread::setMinObstacleDistance ( int  distance )

slot

This slot set the minimum distance, which the robot needs. Used by the infrared and ultra sonic sensors.

Parameters:

distance

in centimeters

Definition at line 649 of file obstacleCheckThread.cpp.

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void ObstacleCheckThread::setMinObstacleDistanceLaserFront ( int  distance )

slot

This slot set the minimum distance, which the robot needs. Used by the laser scanner. Has to be a seperate method because of the signal from the GUI slider for each laser!

Parameters:

distance

in centimeters

Definition at line 655 of file obstacleCheckThread.cpp.

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void ObstacleCheckThread::setMinObstacleDistanceLaserRear ( int  distance )

slot

  This slot set the minimum distance, which the robot needs. Used by the laser scanner.

Has to be a seperate method because of the signal from the GUI slider for each laser!

Parameters:

distance

in centimeters

Definition at line 661 of file obstacleCheckThread.cpp.

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void ObstacleCheckThread::setPassageWidth ( int  width )

slot

This slot sets the width in centimeters (cm), where the robots has to fit through.

Definition at line 708 of file obstacleCheckThread.cpp.

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void ObstacleCheckThread::setSimulationMode ( bool  status )

slot

This slot enables or disables the simulation mode.

Definition at line 720 of file obstacleCheckThread.cpp.

void ObstacleCheckThread::setStraightForwardDeviation ( int  deviation )

slot

This slot sets the deviation to 90 degrees when the robot drives forward. When the laser angle is 180 degrees, the middle is 90 degrees, at 270 degrees it's 135.

Parameters:

deviation

is the angle in degrees.

Definition at line 714 of file obstacleCheckThread.cpp.

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void ObstacleCheckThread::stop

(

)

Definition at line 110 of file obstacleCheckThread.cpp.

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void ObstacleCheckThread::systemerrorcatcher ( int  errorlevel )

slot

This slot catches all signals from the signal

See also:

systemerror

Definition at line 742 of file obstacleCheckThread.cpp.

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Member Data Documentation

int ObstacleCheckThread::actualFreeAreaEnd

private

Definition at line 170 of file obstacleCheckThread.h.

int ObstacleCheckThread::actualFreeAreaStart

private

Definition at line 169 of file obstacleCheckThread.h.

const int ObstacleCheckThread::AREA1 = 1

staticprivate

This are areas to be ignored when checking the laser distances.

Definition at line 207 of file obstacleCheckThread.h.

const int ObstacleCheckThread::AREA2 = 2

staticprivate

Definition at line 208 of file obstacleCheckThread.h.

int ObstacleCheckThread::centerOfFreeWayFront

private

Definition at line 172 of file obstacleCheckThread.h.

int ObstacleCheckThread::centerOfFreeWayRear

private

this is user for laser1

Definition at line 173 of file obstacleCheckThread.h.

const int ObstacleCheckThread::CENTEROFLARGESTFREEWAY = 3

staticprivate

Definition at line 201 of file obstacleCheckThread.h.

QString ObstacleCheckThread::className

private

Definition at line 158 of file obstacleCheckThread.h.

QList<int> ObstacleCheckThread::freeEndAreas

private

This stores the free areas after a scan. These will than be analysed and the "best" is chosen.

Definition at line 195 of file obstacleCheckThread.h.

QList<int> ObstacleCheckThread::freeStartAreas

private

and this is the deviation to 90 degrees, when driving forward

Definition at line 194 of file obstacleCheckThread.h.

const int ObstacleCheckThread::FREEWAY = 0

staticprivate

This stores the free areas after a scan. These will than be analysed and the "best" is chosen.

the tags for the laser lines

See also:

Gui

Definition at line 198 of file obstacleCheckThread.h.

const int ObstacleCheckThread::IGNORETHIS = 4

staticprivate

Definition at line 202 of file obstacleCheckThread.h.

bool ObstacleCheckThread::initCompleted

private

Definition at line 162 of file obstacleCheckThread.h.

const int ObstacleCheckThread::LARGESTFREEWAY = 2

staticprivate

Definition at line 200 of file obstacleCheckThread.h.

const short int ObstacleCheckThread::LASER1 = 1

staticprivate

Definition at line 241 of file obstacleCheckThread.h.

const short int ObstacleCheckThread::LASER2 = 2

staticprivate

Definition at line 242 of file obstacleCheckThread.h.

const short int ObstacleCheckThread::LASER3 = 4

staticprivate

Definition at line 243 of file obstacleCheckThread.h.

const short int ObstacleCheckThread::LASER4 = 8

staticprivate

Definition at line 244 of file obstacleCheckThread.h.

const short int ObstacleCheckThread::LASER5 = 16

staticprivate

Definition at line 245 of file obstacleCheckThread.h.

float ObstacleCheckThread::laserAngleFront

private

stores the laser resolution when getting the value from the laser thread

Definition at line 187 of file obstacleCheckThread.h.

float ObstacleCheckThread::laserAngleRear

private

stores the laser angle when getting the value from the laser thread

Definition at line 188 of file obstacleCheckThread.h.

float ObstacleCheckThread::laserResolutionFront

private

this area will be ignored when there is an obstacle

Definition at line 185 of file obstacleCheckThread.h.

float ObstacleCheckThread::laserResolutionRear

private

stores the laser resolution when getting the value from the laser thread

Definition at line 186 of file obstacleCheckThread.h.

int ObstacleCheckThread::laserscannerFrontIgnoreArea1End

private

this area will be ignored when there is an obstacle

Definition at line 176 of file obstacleCheckThread.h.

int ObstacleCheckThread::laserscannerFrontIgnoreArea1Start

private

this is user for laser2

Definition at line 175 of file obstacleCheckThread.h.

int ObstacleCheckThread::laserscannerFrontIgnoreArea2End

private

this area will be ignored when there is an obstacle

Definition at line 178 of file obstacleCheckThread.h.

int ObstacleCheckThread::laserscannerFrontIgnoreArea2Start

private

this area will be ignored when there is an obstacle

Definition at line 177 of file obstacleCheckThread.h.

int ObstacleCheckThread::laserscannerRearIgnoreArea1End

private

this area will be ignored when there is an obstacle

Definition at line 181 of file obstacleCheckThread.h.

int ObstacleCheckThread::laserscannerRearIgnoreArea1Start

private

this area will be ignored when there is an obstacle

Definition at line 180 of file obstacleCheckThread.h.

int ObstacleCheckThread::laserscannerRearIgnoreArea2End

private

this area will be ignored when there is an obstacle

Definition at line 183 of file obstacleCheckThread.h.

int ObstacleCheckThread::laserscannerRearIgnoreArea2Start

private

this area will be ignored when there is an obstacle

Definition at line 182 of file obstacleCheckThread.h.

LaserThread* ObstacleCheckThread::laserThread

private

Definition at line 160 of file obstacleCheckThread.h.

int ObstacleCheckThread::minObstacleDistance

private

see if the init method of this class was already called

Definition at line 163 of file obstacleCheckThread.h.

int ObstacleCheckThread::minObstacleDistanceLaserFront

private

if the measured distance from a sensor is smaller than this value, than we have an obstacle! This is for the old infrared sensors.

Definition at line 164 of file obstacleCheckThread.h.

int ObstacleCheckThread::minObstacleDistanceLaserRear

private

if the measured distance from a sensor is smaller than this value, than we have an obstacle! This is for laser scanner 1.

Definition at line 165 of file obstacleCheckThread.h.

const short int ObstacleCheckThread::NONE = 0

staticprivate

Definition at line 238 of file obstacleCheckThread.h.

const int ObstacleCheckThread::OBSTACLE = 1

staticprivate

Definition at line 199 of file obstacleCheckThread.h.

const short int ObstacleCheckThread::OBSTACLEFRONTLEFT = 512

staticprivate

Todo:

make these values nicer

Definition at line 233 of file obstacleCheckThread.h.

const short int ObstacleCheckThread::OBSTACLEFRONTRIGHT = 1024

staticprivate

Definition at line 234 of file obstacleCheckThread.h.

const short int ObstacleCheckThread::OBSTACLESEVERYWHEREINFRONT = 2048

staticprivate

Definition at line 235 of file obstacleCheckThread.h.

int ObstacleCheckThread::robotSlotWidth

private

stores the laser angle when getting the value from the laser thread

Definition at line 190 of file obstacleCheckThread.h.

const short int ObstacleCheckThread::SENSOR1 = 1

staticprivate

Todo:

make these values nicer

Definition at line 220 of file obstacleCheckThread.h.

const short int ObstacleCheckThread::SENSOR16 = 256

staticprivate

Definition at line 230 of file obstacleCheckThread.h.

const short int ObstacleCheckThread::SENSOR2 = 2

staticprivate

Definition at line 221 of file obstacleCheckThread.h.

const short int ObstacleCheckThread::SENSOR3 = 4

staticprivate

Definition at line 222 of file obstacleCheckThread.h.

const short int ObstacleCheckThread::SENSOR4 = 8

staticprivate

Definition at line 223 of file obstacleCheckThread.h.

const short int ObstacleCheckThread::SENSOR5 = 16

staticprivate

Definition at line 224 of file obstacleCheckThread.h.

const short int ObstacleCheckThread::SENSOR6 = 32

staticprivate

Definition at line 225 of file obstacleCheckThread.h.

const short int ObstacleCheckThread::SENSOR7 = 64

staticprivate

Definition at line 226 of file obstacleCheckThread.h.

const short int ObstacleCheckThread::SENSOR8 = 128

staticprivate

Definition at line 227 of file obstacleCheckThread.h.

unsigned char ObstacleCheckThread::sensorValue

private

if the measured distance from a sensor is smaller than this value, than we have an obstacle! This is for laser scanner 2.

Definition at line 166 of file obstacleCheckThread.h.

SensorThread* ObstacleCheckThread::sensThread

private

this will contain the name of this class at runtime for debug messages

Definition at line 159 of file obstacleCheckThread.h.

bool ObstacleCheckThread::simulationMode

private

Definition at line 167 of file obstacleCheckThread.h.

volatile bool ObstacleCheckThread::stopped

private

Definition at line 161 of file obstacleCheckThread.h.

int ObstacleCheckThread::straightForwardDeviation

private

defines the minimum slot in centimeters (cm), where the robot has to fit through

Definition at line 192 of file obstacleCheckThread.h.

const unsigned long ObstacleCheckThread::THREADSLEEPTIME = 50

staticprivate

Definition at line 212 of file obstacleCheckThread.h.

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The documentation for this class was generated from the following files:

• direcs/src/obstacleCheckThread.h
• direcs/src/obstacleCheckThread.cpp