ArSick.cpp

/*
ActivMedia Robotics Interface for Applications (ARIA)
Copyright (C) 2004,2005 ActivMedia Robotics, LLC


     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 
ActivMedia Robotics for information about a commercial version of ARIA at 
robots@activmedia.com or 
ActivMedia Robotics, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481

*/

#include "ArExport.h"
#include "ariaOSDef.h"
#include "ArSick.h"
#include "ArRobot.h"
#include "ArSerialConnection.h"
#include "ariaInternal.h"
#include <time.h>

ArSick::ArSick(size_t currentBufferSize, size_t cumulativeBufferSize, 
                        const char *name, bool addAriaExitCB) :
  ArRangeDeviceThreaded(currentBufferSize, cumulativeBufferSize, name, 32500),
  myRobotConnectCB(this, &ArSick::robotConnectCallback),
  mySimPacketHandler(this, &ArSick::simPacketHandler),
  mySensorInterpCB(this, &ArSick::sensorInterpCallback),
  mySickPacketReceiver(0, true),
  myAriaExitCB(this, &ArSick::disconnect, true)
{
  myAriaExitCB.setName("ArSickExit");
  if (addAriaExitCB)
    Aria::addExitCallback(&myAriaExitCB, 10);
  configure();
  setSensorPosition(0, 0, 0);
  myAssembleReadings = new std::list<ArSensorReading *>;
  myCurrentReadings = new std::list<ArSensorReading *>;
  myRawReadings = myCurrentReadings;
  myIter = myAssembleReadings->begin();
  myConn = NULL;
  myRobot = NULL;
  myStartConnect = false;
  myRunningOnRobot = false;
  switchState(STATE_NONE);
  myProcessImmediately = false;
  myInterpolation = true;
  myTimeoutTime = 8;
  myRealConfigured = false;

  // default filter params
  setMinRange(125);
  setFilterNearDist(50);
  setFilterCumulativeMaxDist(6000);
  setFilterCumulativeInsertMaxDist(3000);
  setFilterCumulativeNearDist(200);
  setFilterCumulativeCleanDist(75);
  setFilterCumulativeMaxAge(30);
  setFilterCleanCumulativeInterval(1000);

  myLastCleanedCumulative.setToNow();

  setCurrentDrawingData(new ArDrawingData("polyDots", 
                                                                                  ArColor(0, 0, 255), 
                                                                                  80,  // mm diameter of dots
                                                                                  75), // layer above sonar 
                                                true);

  setCumulativeDrawingData(new ArDrawingData("polyDots", 
                                                                                         ArColor(125, 125, 125), 
                                                                                         100, // mm diameter of dots
                                                                                         60), // layer below current range devices  
                                                   true);
}

ArSick::~ArSick()
{
  if (myRobot != NULL)
  {
    myRobot->remRangeDevice(this);
    myRobot->remPacketHandler(&mySimPacketHandler);
    myRobot->remSensorInterpTask(&mySensorInterpCB);
    myRobot->addConnectCB(&myRobotConnectCB, ArListPos::FIRST);
  }
  lockDevice();
  if (isConnected())
  {
    disconnect();
  }
  unlockDevice();
}

void ArSick::robotConnectCallback(void)
{
  const ArRobotParams *params;
  if (myRealConfigured || !myRobot->isConnected()) 
    return;
  params = myRobot->getRobotParams();
  myLaserFlipped = params->getLaserFlipped();
  myPowerControl = params->getLaserPowerControlled();
  
  if (myDegrees == DEGREES180)
    myOffsetAmount = 90;
  else if (myDegrees == DEGREES100)
    myOffsetAmount = 50;
  else
  {
    myOffsetAmount = 0;
    ArLog::log(ArLog::Terse,"ArSick::robotConnectCallback: bad degrees configured.\n");
  }
  

  if (myLaserFlipped)
    myOffsetAmount *= -1;

  if (myIncrement == INCREMENT_ONE)
    myIncrementAmount = 1.0;
  else if (myIncrement == INCREMENT_HALF)
    myIncrementAmount = 0.5;
  else
  {
    myIncrementAmount = 0;
    ArLog::log(ArLog::Terse,"ArSick::robotConnectCallback: bad increment configured.\n");
  }
  if (myLaserFlipped)
    myIncrementAmount *= -1;

  clearIgnoreReadings();
  ArArgumentBuilder builder;
  builder.add(myRobot->getRobotParams()->getLaserIgnore());
  size_t i;
  for (i = 0; i < builder.getArgc(); i++)
  {
    if (!builder.isArgDouble(i))
    {
      ArLog::log(ArLog::Normal, "ArRobotConfig::setIgnoreReadings: argument is not a double");
    }
    addIgnoreReading(builder.getArgDouble(i));
  }

  setSensorPosition(params->getLaserX(), params->getLaserY(), params->getLaserTh());
}

bool ArSick::isUsingSim(void)
{
  return myUseSim;
}

bool ArSick::isControllingPower(void)
{
  return myPowerControl;
}

bool ArSick::isLaserFlipped(void)
{
  return myLaserFlipped;
}

ArSick::Degrees ArSick::getDegrees(void)
{
  return myDegrees;
}

ArSick::Increment ArSick::getIncrement(void)
{
  return myIncrement;
}


void ArSick::setIsUsingSim(bool usingSim)
{
  myUseSim = usingSim;
}

void ArSick::setIsControllingPower(bool controlPower)
{
  myPowerControl = controlPower;
}

void ArSick::setIsLaserFlipped(bool laserFlipped)
{
  myLaserFlipped = laserFlipped;
}


void ArSick::setSensorPosition(double x, double y, double th)
{
  mySensorPose.setPose(x, y, th);
}

void ArSick::setSensorPosition(ArPose pose)
{
  mySensorPose = pose;
}

ArPose ArSick::getSensorPosition(void)
{
  return mySensorPose;
}

double ArSick::getSensorPositionX(void)
{
  return mySensorPose.getX();
}

double ArSick::getSensorPositionY(void)
{
  return mySensorPose.getY();
}

double ArSick::getSensorPositionTh(void)
{
  return mySensorPose.getTh();
}


void ArSick::setDeviceConnection(ArDeviceConnection *conn)
{
  myConnLock.lock();
  myConn = conn; 
  mySickPacketReceiver.setDeviceConnection(conn); 
  myConnLock.unlock();
}

ArDeviceConnection *ArSick::getDeviceConnection(void)
{
  return myConn;
}

void ArSick::setConnectionTimeoutTime(int mSecs)
{
  if (mSecs > 0)
    myTimeoutTime = mSecs;
  else
    myTimeoutTime = 0;
}

int ArSick::getConnectionTimeoutTime(void)
{
  return myTimeoutTime;
}

ArTime ArSick::getLastReadingTime(void)
{
  return myLastReading;
}

void ArSick::setRobot(ArRobot *robot)
{
  myRobot = robot;
  if (myRobot != NULL)
  {
    myRobot->addPacketHandler(&mySimPacketHandler, ArListPos::LAST);
    myRobot->addSensorInterpTask("sick", 90, &mySensorInterpCB);
    myRobot->addConnectCB(&myRobotConnectCB, ArListPos::FIRST);
    if (myRobot->isConnected())
      robotConnectCallback();
  }
  ArRangeDevice::setRobot(robot);
}

void ArSick::configure(bool useSim, bool powerControl,
                                bool laserFlipped, BaudRate baud,
                                Degrees deg, Increment incr)
{

  myUseSim = useSim;
  myPowerControl = powerControl;
  myLaserFlipped = laserFlipped;
  myBaud = baud;
  myDegrees = deg;
  myIncrement = incr;

  if (myDegrees == DEGREES180)
    myOffsetAmount = 90;
  else if (myDegrees == DEGREES100)
    myOffsetAmount = 50;
  else
  {
    myOffsetAmount = 0;
    ArLog::log(ArLog::Terse,"ArSick::configure: bad degrees configured.\n");
  }
  
  if (myLaserFlipped)
    myOffsetAmount *= -1;

  if (myIncrement == INCREMENT_ONE)
    myIncrementAmount = 1.0;
  else if (myIncrement == INCREMENT_HALF)
    myIncrementAmount = 0.5;
  else
  {
    myIncrementAmount = 0;
    ArLog::log(ArLog::Terse,"ArSick::configure: bad increment configured.\n");
  }

  if (myLaserFlipped)
    myIncrementAmount *= -1;

  myRealConfigured = true;
}

void ArSick::configureShort(bool useSim, BaudRate baud,
                                Degrees deg, Increment incr)
{

  myUseSim = useSim;
  myPowerControl = true;
  myLaserFlipped = false;
  myBaud = baud;
  myDegrees = deg;
  myIncrement = incr;

  if (myDegrees == DEGREES180)
    myOffsetAmount = 90;
  else if (myDegrees == DEGREES100)
    myOffsetAmount = 50;
  else
  {
    myOffsetAmount = 0;
    ArLog::log(ArLog::Terse,"ArSick::configureShort: bad degrees configured.\n");
  }
  
  if (myLaserFlipped)
    myOffsetAmount *= -1;

  if (myIncrement == INCREMENT_ONE)
    myIncrementAmount = 1.0;
  else if (myIncrement == INCREMENT_HALF)
    myIncrementAmount = 0.5;
  else
  {
    myIncrementAmount = 0;
    ArLog::log(ArLog::Terse,"ArSick::configureShort: bad increment configured.\n");
  }
  if (myLaserFlipped)
    myIncrementAmount *= -1;

  myRealConfigured = false;
  // if we're connected, just have this set things
  if (myRobot != NULL && myRobot->isConnected())
    robotConnectCallback();
}

bool ArSick::simPacketHandler(ArRobotPacket *packet)
{
  std::list<ArFunctor *>::iterator it;

  unsigned int totalNumReadings;
  unsigned int readingNumber;
  double atDeg;
  unsigned int i;
  ArSensorReading *reading;
  std::list<ArSensorReading *>::iterator tempIt;
  unsigned int newReadings;
  int range;
  ArPose encoderPose;
  std::list<double>::iterator ignoreIt;  
  bool ignore;
  
  if (packet->getID() != 0x60)
    return false;

  // if we got here, its the right type of packet

  //printf("Got in a packet from the simulator\n");
  lockDevice();
  //printf("1\n");
  if (!myUseSim)
  {
    ArLog::log(ArLog::Terse, "ArSick: Got a packet from the simulator with laser information, but the laser is not being simulated, major trouble.");
    unlockDevice();
    return true;
  }
  // ignore the positional information
  packet->bufToByte2();
  packet->bufToByte2();
  packet->bufToByte2();
  totalNumReadings = packet->bufToByte2(); // total for this reading
  readingNumber = packet->bufToByte2(); // which one we're on in this packet
  newReadings = packet->bufToUByte(); // how many are in this packet
  if (readingNumber == 0)
  {
    mySimPacketStart = myRobot->getPose();
    mySimPacketTrans = myRobot->getToGlobalTransform();
    mySimPacketEncoderTrans = myRobot->getEncoderTransform();
    mySimPacketCounter = myRobot->getCounter();
  }
  //printf("On reading number %d out of %d, new %d\n", readingNumber, totalNumReadings, newReadings);
  // if we have too many readings in our list of raw readings, pop the extras
  while (myAssembleReadings->size() > totalNumReadings)
  {
    ArLog::log(ArLog::Verbose, "ArSick::simPacketHandler, too many readings, popping one.\n");
    tempIt = myAssembleReadings->begin();
    if (tempIt != myAssembleReadings->end())
      delete (*tempIt);
    myAssembleReadings->pop_front();
  }
  
  // If we don't have any sensor readings created at all, make 'em all now
  if (myAssembleReadings->size() == 0)
    for (i = 0; i < totalNumReadings; i++)
      myAssembleReadings->push_back(new ArSensorReading);
  
  // Okay, we know where we're at, so get an iterator to the right spot, or 
  // make sure the one we keep around is in the right spot... if neither of
  // these trigger, then the iter should be in the right spot
  if ((readingNumber != myWhichReading + 1) || 
      totalNumReadings != myTotalNumReadings)
  {
    //printf("2\n");
    myWhichReading = readingNumber;
    myTotalNumReadings = totalNumReadings;
    for (i = 0, myIter = myAssembleReadings->begin(); i < readingNumber; i++)
    {
      tempIt = myIter;
      tempIt++;
      if (tempIt == myAssembleReadings->end() && (i + 1 != myTotalNumReadings))
        myAssembleReadings->push_back(new ArSensorReading);
      myIter++;
    }
  }
  else
  {
    //printf("3\n");
    myWhichReading = readingNumber;
  }

  atDeg = (mySensorPose.getTh() - myOffsetAmount + 
           readingNumber * myIncrementAmount);
  //printf("4\n");
  encoderPose = mySimPacketEncoderTrans.doInvTransform(mySimPacketStart);
  // while we have in the readings and have stuff left we can read 
  for (i = 0; 
       //        (myWhichReading < myTotalNumReadings && 
       //         packet->getReadLength() < packet->getLength() - 4);
       i < newReadings;
       i++, myWhichReading++, atDeg += myIncrementAmount)
  {
    reading = (*myIter);
    range = packet->bufToUByte2();
    ignore = false;
    for (ignoreIt = myIgnoreReadings.begin(); 
         ignoreIt != myIgnoreReadings.end();
         ignoreIt++)
    {
      //if (atDeg == 0)
      //printf("Ignoring %.0f\n", (*ignoreIt));
      if (ArMath::fabs(ArMath::subAngle(atDeg, *(ignoreIt))) < 1.0)
      {
        //printf("Ignoring %.0f\n", (*ignoreIt));
        ignore = true;
        break;
      }
    }
    if (myMaxRange != 0 && range < (int)myMinRange)
      ignore = true;
    if (myMaxRange != 0 && range > (int)myMaxRange)
      ignore = true;
    
    reading->resetSensorPosition(ArMath::roundInt(mySensorPose.getX()),
                                 ArMath::roundInt(mySensorPose.getY()),
                                 atDeg);
    //      printf("dist %d\n", dist);
    reading->newData(range, mySimPacketStart, 
                     encoderPose,
                     mySimPacketTrans,
                     mySimPacketCounter, packet->getTimeReceived(), ignore);
    //addReading(reading->getX(), reading->getY());
    tempIt = myIter;
    tempIt++;
    if (tempIt == myAssembleReadings->end() && 
        myWhichReading + 1 != myTotalNumReadings)
    {
      myAssembleReadings->push_back(new ArSensorReading);
    }
    myIter++;
  }

  // check if the sensor set is complete
  //printf("%d %d %d\n", newReadings, readingNumber, totalNumReadings);
  if (newReadings + readingNumber >= totalNumReadings)
  {
    // set ArRangeDevice buffer
    myRawReadings = myAssembleReadings;
    // switch internal buffers
    myAssembleReadings = myCurrentReadings;
    myCurrentReadings = myRawReadings;
    // We have in all the readings, now sort 'em and update the current ones
    filterReadings();

    if (myTimeLastSickPacket != time(NULL)) 
      {
        myTimeLastSickPacket = time(NULL);
        mySickPacCount = mySickPacCurrentCount;
        mySickPacCurrentCount = 0;
      }
    mySickPacCurrentCount++;
    myLastReading.setToNow();
    
    for (it = myDataCBList.begin(); it != myDataCBList.end(); it++)
      (*it)->invoke();
  }     
  
  unlockDevice();
  return true;
}

void ArSick::filterReadings()
{
  std::list<ArSensorReading *>::iterator sensIt;
  ArSensorReading *sReading;
  double x, y;
  double squaredDist;
  double lastX = 0.0, lastY = 0.0;
  unsigned int i;
  double squaredNearDist = myFilterNearDist * myFilterNearDist; 
  ArTime len;
  len.setToNow();

  bool clean;
  if (myFilterCleanCumulativeInterval == 0 ||
      myLastCleanedCumulative.mSecSince() > myFilterCleanCumulativeInterval)
  {
    myLastCleanedCumulative.setToNow();
    clean = true;
  }
  else
  {
    clean = false;
  }
  
  sensIt = myRawReadings->begin();
  sReading = (*sensIt);
  myCurrentBuffer.setPoseTaken(sReading->getPoseTaken());
  myCurrentBuffer.setEncoderPoseTaken(sReading->getEncoderPoseTaken());
  //myCurrentBuffer.reset();

  // if we don't have any readings in the buffer yet, fill it up
  if (myCurrentBuffer.getBuffer()->size() == 0)
    for (i = 0; i < myRawReadings->size(); i++)
      myCurrentBuffer.getBuffer()->push_back(new ArPoseWithTime);

  i = 0;
  // walk the buffer of all the readings and see if we want to add them
  for (myCurrentBuffer.beginRedoBuffer();         
       sensIt != myRawReadings->end(); 
       ++sensIt)
  {
    sReading = (*sensIt);
    /*
    if (sReading->getIgnoreThisReading())
       printf("Ignoring %.0f %d\n", sReading->getSensorTh(),sReading->getRange());
    */
    // see if the reading is in the valid range
    if (!sReading->getIgnoreThisReading())
    {
      // get our coords
      x = sReading->getX();
      y = sReading->getY();

      
      // see if we're checking on the filter near dist... if we are
      // and the reading is a good one we'll check the cumulative
      // buffer
      if (squaredNearDist > 0.0000001)
      {
        // see where the last reading was
        squaredDist = (x-lastX)*(x-lastX) + (y-lastY)*(y-lastY);
        // see if the reading is far enough from the last reading
        if (squaredDist > squaredNearDist)              // moved enough
        {
          lastX = x;
          lastY = y;
          // since it was a good reading, see if we should toss it in
          // the cumulative buffer... 
          filterAddAndCleanCumulative(x, y, clean);

          /* we don't do this part anymore since it wound up leaving
          // too many things not really tehre... if its outside of our
          // sensor angle to use to filter then don't let this one
          // clean  (ArMath::fabs(sReading->getSensorTh()) > 50)
          // filterAddAndCleanCumulative(x, y, false); else*/
        }
        // it wasn't far enough, skip this one and go to the next one
        else
        {
          continue;             
        }
      }
      // we weren't filtering the readings, but see if it goes in the
      // cumulative buffer anyways
      else
      {
        filterAddAndCleanCumulative(x, y, clean);
      }
      // now drop the reading into the current buffer
      myCurrentBuffer.redoReading(x, y);
      i++;
    }
  }
  myCurrentBuffer.endRedoBuffer();
  /*  Put this in to see how long the cumulative filtering is taking  
  if (clean)
    printf("### %ld %d\n", len.mSecSince(), myCumulativeBuffer.getBuffer()->size());
    */
  
}

void ArSick::filterAddAndCleanCumulative(double x, double y, bool clean)
{
  if (myCumulativeBuffer.getSize() == 0)
    return;


  std::list<ArPoseWithTime *>::iterator cit;
  bool addReading = true;
  double squaredDist;

  ArLineSegment line;
  double xTaken = myCurrentBuffer.getPoseTaken().getX();
  double yTaken = myCurrentBuffer.getPoseTaken().getY();
  ArPose intersection;
  ArPoseWithTime reading(x, y);

  // make sure we really want to clean
  if (clean && myFilterSquaredCumulativeCleanDist < 1)
    clean = false;

  squaredDist = ArMath::squaredDistanceBetween(x, y, xTaken, yTaken);
  // if we're not cleaning and its further than we're keeping track of
  // readings ignore it
  if (!clean && 
      myFilterSquaredCumulativeInsertMaxDist > 1 && 
      squaredDist > myFilterSquaredCumulativeInsertMaxDist)
    return;
  
  // if we're cleaning we start our sweep
  if (clean)
    myCumulativeBuffer.beginInvalidationSweep();
  // run through all the readings
  for (cit = getCumulativeBuffer()->begin(); 
       cit != getCumulativeBuffer()->end(); 
       ++cit)
  {
    // if its closer to a reading than the filter near dist, just return
    if (myFilterSquaredCumulativeNearDist < .0000001 ||
        (ArMath::squaredDistanceBetween(x, y, (*cit)->getX(), (*cit)->getY()) <
         myFilterSquaredCumulativeNearDist))
    {
      // if we're not cleaning it and its too close just return,
      // otherwise keep going (to clear out invalid readings)
      if (!clean)
        return;
      addReading = false;
    }
    // see if this reading invalidates some other readings by coming too close
    if (clean)
    {
      // set up our line
      line.newEndPoints(x, y, xTaken, yTaken);
      // see if the cumulative buffer reading perpindicular intersects
      // this line segment, and then see if its too close if it does
      if (line.getPerpPoint((*cit), &intersection) &&
          (intersection.squaredFindDistanceTo(*(*cit)) < 
                                       myFilterSquaredCumulativeCleanDist) &&
          (intersection.squaredFindDistanceTo(reading) > 50 * 50))
      {
        //printf("Found one too close to the line\n");
        myCumulativeBuffer.invalidateReading(cit);
      }
    }
  }
  // if we're cleaning finish the sweep
  if (clean)
    myCumulativeBuffer.endInvalidationSweep();
  // toss the reading in
  if (addReading)
    myCumulativeBuffer.addReading(x, y);

}

void ArSick::switchState(State state)
{
  myStateMutex.lock();
  myState = state;
  myStateStart.setToNow();
  myStateMutex.unlock();
}

int ArSick::internalConnectHandler(void)
{
  ArSickPacket *packet;
  ArSerialConnection *conn;
  int value;

  switch (myState)
  {
  case STATE_INIT:
    if (myConn->getStatus() != ArDeviceConnection::STATUS_OPEN)
    {
      if ((conn = dynamic_cast<ArSerialConnection *>(myConn)) != NULL)
      {
        conn->setBaud(9600);
      }
      if (!myConn->openSimple())
      {
        ArLog::log(ArLog::Terse,
                   "ArSick: Failed to connect to laser, could not open port.");
        switchState(STATE_NONE);
        failedConnect();
        return 2;
      }
    }
    if (!myPowerControl)
    {
      /*
      myPacket.empty();
      myPacket.uByteToBuf(0x20);
      myPacket.uByteToBuf(0x25);
      myPacket.finalizePacket();
      myConn->write(myPacket.getBuf(), myPacket.getLength());
      */
      switchState(STATE_CHANGE_BAUD);
      return internalConnectHandler();
    }
    ArLog::log(ArLog::Terse, "ArSick: waiting for laser to power on.");
    myPacket.empty();
    myPacket.uByteToBuf(0x10);
    myPacket.finalizePacket();
    if (myConn->write(myPacket.getBuf(), myPacket.getLength()))
    {
      switchState(STATE_WAIT_FOR_POWER_ON);
      return 0;
    }
    else
    {
      ArLog::log(ArLog::Terse,
                 "ArSick: Failed to connect to laser, could not send init.");
      switchState(STATE_NONE);
      failedConnect();
      return 2;
    }
    break;
  case STATE_WAIT_FOR_POWER_ON:
    while ((packet = mySickPacketReceiver.receivePacket()) != NULL)
    {
      if (packet->getID() == 0x90)
      {
        switchState(STATE_CHANGE_BAUD);
        return 0;
      }
    }
    if (myStateStart.secSince() > 65)
    {
      ArLog::log(ArLog::Terse,
                 "ArSick: Failed to connect to laser, no poweron received.");
      switchState(STATE_NONE);
      failedConnect();
      return 2;
    }
    break;
  case STATE_CHANGE_BAUD:
    myPacket.empty();
    myPacket.byteToBuf(0x20);
    if (myBaud == BAUD9600)
      myPacket.byteToBuf(0x42);
    else if (myBaud == BAUD19200)
      myPacket.byteToBuf(0x41);
    else if (myBaud == BAUD38400)
      myPacket.byteToBuf(0x40);
    myPacket.finalizePacket();
    if (myConn->write(myPacket.getBuf(), myPacket.getLength()))
    {
      ArUtil::sleep(20);
      if ((conn = dynamic_cast<ArSerialConnection *>(myConn)))
      {
        if (myBaud == BAUD9600)
          conn->setBaud(9600);
        else if (myBaud == BAUD19200)
          conn->setBaud(19200);
        else if (myBaud == BAUD38400)
          conn->setBaud(38400);
      }
      switchState(STATE_CONFIGURE);
      return 0;
    }
    else
    {
      ArLog::log(ArLog::Terse,
                 "ArSick: Failed to connect to laser, could not send baud command.");
      switchState(STATE_NONE);
      failedConnect();
      return 2;
    }
    break;
  case STATE_CONFIGURE:
    // wait at least a 100 ms for the baud to change
    if (myStateStart.mSecSince() < 300)
      return 0;
    myPacket.empty();
    myPacket.byteToBuf(0x3b);
    myPacket.uByte2ToBuf(abs(ArMath::roundInt(myOffsetAmount * 2)));
    myPacket.uByte2ToBuf(abs(ArMath::roundInt(myIncrementAmount * 100)));
    myPacket.finalizePacket();
    if (myConn->write(myPacket.getBuf(), myPacket.getLength()))
    {
      switchState(STATE_WAIT_FOR_CONFIGURE_ACK);
      return 0;
    }
    else
    {
      ArLog::log(ArLog::Terse,
                 "ArSick: Failed to connect to laser, could not send configure command.");
      switchState(STATE_NONE);
      failedConnect();
      return 2;
    }
    break;
  case STATE_WAIT_FOR_CONFIGURE_ACK:
    while ((packet = mySickPacketReceiver.receivePacket()) != NULL)
    {
      if (packet->getID() == 0xbb)
      {
        value = packet->bufToByte();
        if (value == 0)
        {
          ArLog::log(ArLog::Terse, 
                     "ArSick: Could not configure laser, failed connect.");
          switchState(STATE_NONE);
          failedConnect();
          return 2;
        }
        else if (value == 1)
        {
          // here
          //switchState(STATE_START_READINGS);
          switchState(STATE_INSTALL_MODE);
          return 0;
        }
        else
        {
          ArLog::log(ArLog::Terse, 
                     "ArSick: Could not configure laser, failed connect.");
          switchState(STATE_NONE);
          failedConnect();
          return 2;
        }
      }
      else if (packet->getID() == 0xb0)
      {

        ArLog::log(ArLog::Terse, "ArSick: extra data packet while waiting for configure ack");
        myPacket.empty();
        myPacket.uByteToBuf(0x20);
        myPacket.uByteToBuf(0x25);
        myPacket.finalizePacket();
        if (myConn->write(myPacket.getBuf(), myPacket.getLength()))
        {
          switchState(STATE_CONFIGURE);
          return 0;
        }
      }
      else
        ArLog::log(ArLog::Terse, "ArSick: Got a 0x%x\n", packet->getID());
    }
    if (myStateStart.mSecSince() > 10000)
    {
      ArLog::log(ArLog::Terse,
                 "ArSick: Failed to connect to laser, no configure acknowledgement received.");
      switchState(STATE_NONE);
      failedConnect();
      return 2;
    }
    break;
  case STATE_INSTALL_MODE:
    if (myStateStart.mSecSince() < 200)
      return 0;
    myPacket.empty();
    myPacket.byteToBuf(0x20);
    myPacket.byteToBuf(0x00);
    myPacket.strNToBuf("SICK_LMS", strlen("SICK_LMS"));
    myPacket.finalizePacket();
    if (myConn->write(myPacket.getBuf(), myPacket.getLength()))
    {
      switchState(STATE_WAIT_FOR_INSTALL_MODE_ACK);
      return 0;
    }
    else
    {
      ArLog::log(ArLog::Terse,
                 "ArSick: Failed to connect to laser, could not send start command.");
      switchState(STATE_NONE);
      failedConnect();
      return 2;
    }
    break;
  case STATE_WAIT_FOR_INSTALL_MODE_ACK:
    while ((packet = mySickPacketReceiver.receivePacket()) != NULL)
    {
      if (packet->getID() == 0xa0)
      {
        value = packet->bufToByte();
        if (value == 0)
        {
          //printf("Um, should set mode?\n");
          switchState(STATE_SET_MODE);
          return 0;
        }
        else if (value == 1)
        {
          ArLog::log(ArLog::Terse, 
                     "ArSick: Could not start laser, incorrect password.");
          switchState(STATE_NONE);
          failedConnect();
          return 2;
        }
        else if (value == 2)
        {
          ArLog::log(ArLog::Terse, 
                     "ArSick: Could not start laser, LMI fault.");
          switchState(STATE_NONE);
          failedConnect();
          return 2;
        }
        else
        {
          ArLog::log(ArLog::Terse, 
                     "ArSick: Could not start laser, unknown problem.");
          switchState(STATE_NONE);
          failedConnect();
          return 2;
        }
      }
      else if (packet->getID() == 0xb0)
      {
        
        ArLog::log(ArLog::Terse, "ArSick: extra data packet\n");
        myPacket.empty();
        myPacket.uByteToBuf(0x20);
        myPacket.uByteToBuf(0x25);
        myPacket.finalizePacket();
        if (myConn->write(myPacket.getBuf(), myPacket.getLength()))
        {
          switchState(STATE_INSTALL_MODE);
          return 0;
        }
      }
      else
        ArLog::log(ArLog::Terse, "ArSick: bad packet 0x%x\n", packet->getID());
    }
    if (myStateStart.mSecSince() > 10000)
    {
      ArLog::log(ArLog::Terse,
                 "ArSick: Failed to connect to laser, no install mode ack received.");
      switchState(STATE_NONE);
      return 2;
    }
    break;
  case STATE_SET_MODE:
    if (myStateStart.mSecSince() < 200)
      return 0;
    myPacket.empty();
    // type of packet
    myPacket.byteToBuf(0x77);
    // blanking
    myPacket.uByte2ToBuf(0);
    // peak threshhold, stop threshold
    myPacket.uByte2ToBuf(70);
    // the old peak threshhold thats probably broken
    // myPacket.uByte2ToBuf(0);
    // fog correction
    myPacket.uByteToBuf(0);
    // measurement Mode (fun one)
    myPacket.uByteToBuf(6);
    // unit value (fun one)
    myPacket.uByteToBuf(1);
    // temporary field set
    myPacket.uByteToBuf(0);
    // fields A & B as subtractive
    myPacket.uByteToBuf(0);
    // multiple evaluation
    myPacket.uByteToBuf(2);
    // restart
    myPacket.uByteToBuf(2);
    // restart time
    myPacket.uByteToBuf(0);
    // contour A as reference object size
    myPacket.uByteToBuf(0);
    // contour A positive range of tolerance
    myPacket.uByteToBuf(0);
    // contour A negative range of tolerance
    myPacket.uByteToBuf(0);
    // contour A starting angle
    myPacket.uByteToBuf(0);
    // contour A stopping angle
    myPacket.uByteToBuf(0);
    // contour B as reference object size
    myPacket.uByteToBuf(0);
    // contour B positive range of tolerance
    myPacket.uByteToBuf(0);
    // contour B negative range of tolerance
    myPacket.uByteToBuf(0);
    // contour B starting angle
    myPacket.uByteToBuf(0);
    // contour B stopping angle
    myPacket.uByteToBuf(0);
    // contour C as reference object size
    myPacket.uByteToBuf(0);
    // contour C positive range of tolerance
    myPacket.uByteToBuf(0);
    // contour C negative range of tolerance
    myPacket.uByteToBuf(0);
    // contour C starting angle
    myPacket.uByteToBuf(0);
    // contour C stopping angle
    myPacket.uByteToBuf(0);
    // pixel oriented evaluation
    myPacket.uByteToBuf(0);
    // mode for single meas value eval
    myPacket.uByteToBuf(0);
    // restart times for field b and field c
    myPacket.byte2ToBuf(0);
    // um, an extra one (sick quickstart manual says its 21 not 20 long)
    myPacket.uByteToBuf(0);
    
    myPacket.finalizePacket();
    //myPacket.log();
    //printf("Sending mode!\n");
    if (myConn->write(myPacket.getBuf(), myPacket.getLength()))
    {
      //printf("Set mode!\n");
      switchState(STATE_WAIT_FOR_SET_MODE_ACK);
      return 0;
    }
    else
    {
      ArLog::log(ArLog::Terse,
                 "ArSick: Failed to connect to laser, could not send set mode command.");
      switchState(STATE_NONE);
      failedConnect();
      return 2;
    }
    break;
  case STATE_WAIT_FOR_SET_MODE_ACK:
    while ((packet = mySickPacketReceiver.receivePacket()) != NULL)
    {
      if (packet->getID() == 0xF7)
      {
        //value = packet->bufToByte();
        //printf("YAY %d\n", value);
        //packet->log();
        switchState(STATE_START_READINGS);
        return 0;
      }
      else if (packet->getID() == 0xb0)
      {
        
        ArLog::log(ArLog::Terse, "ArSick: extra data packet\n");
        myPacket.empty();
        myPacket.uByteToBuf(0x20);
        myPacket.uByteToBuf(0x25);
        myPacket.finalizePacket();
        if (myConn->write(myPacket.getBuf(), myPacket.getLength()))
        {
          switchState(STATE_INSTALL_MODE);
          return 0;
        }
      }
      else if (packet->getID() == 0x92)
      {
        switchState(STATE_INSTALL_MODE);
        return 0;
      }
      else
        ArLog::log(ArLog::Terse, "ArSick: Got a 0x%x\n", packet->getID());
    }
    if (myStateStart.mSecSince() > 14000)
    {
      ArLog::log(ArLog::Terse,
                 "ArSick: Failed to connect to laser, no set mode acknowledgement received.");
      switchState(STATE_NONE);
      failedConnect();
      return 2;
    }
    break;
    case STATE_START_READINGS: 
      if (myStateStart.mSecSince() < 200)
      return 0;
    myPacket.empty();
    myPacket.byteToBuf(0x20);
    myPacket.byteToBuf(0x24);
    myPacket.finalizePacket();
    if (myConn->write(myPacket.getBuf(), myPacket.getLength()))
    {
      switchState(STATE_WAIT_FOR_START_ACK);
      return 0;
    }
    else
    {
      ArLog::log(ArLog::Terse,
                 "ArSick: Failed to connect to laser, could not send start command.");
      switchState(STATE_NONE);
      failedConnect();
      return 2;
    }
    break;
  case STATE_WAIT_FOR_START_ACK:
    while ((packet = mySickPacketReceiver.receivePacket()) != NULL)
    {
      if (packet->getID() == 0xa0)
      {
        value = packet->bufToByte();
        if (value == 0)
        {
          ArLog::log(ArLog::Terse, "ArSick: Connected to the laser.");
          switchState(STATE_CONNECTED);
          madeConnection();
          return 1;
        }
        else if (value == 1)
        {
          ArLog::log(ArLog::Terse, 
             "ArSick: Could not start laser laser, incorrect password.");
          switchState(STATE_NONE);
          failedConnect();
          return 2;
        }
        else if (value == 2)
        {
          ArLog::log(ArLog::Terse, 
                     "ArSick: Could not start laser laser, LMI fault.");
          switchState(STATE_NONE);
          failedConnect();
          return 2;
        }
        else
        {
          ArLog::log(ArLog::Terse, 
                     "ArSick: Could not start laser laser, unknown problem.");
          switchState(STATE_NONE);
          failedConnect();
          return 2;
        }
      }
    }
    if (myStateStart.mSecSince() > 1000)
    {
      ArLog::log(ArLog::Terse,
                 "ArSick: Failed to connect to laser, no start acknowledgement received.");
      switchState(STATE_NONE);
      failedConnect();
      return 2;
    }
    break;
  default:
    ArLog::log(ArLog::Verbose, "ArSick: In bad connection state\n");
    break;
  }
  return 0;
}

bool ArSick::internalConnectSim(void)
{
  lockDevice();
  double offset = myOffsetAmount;
  double increment = myIncrementAmount;
  unlockDevice();

  myRobot->lock();
  // return true if we could send all the commands
  if (myRobot->comInt(36, -ArMath::roundInt(offset)) &&
      myRobot->comInt(37, ArMath::roundInt(offset)) &&
      myRobot->comInt(38, ArMath::roundInt(increment * 100.0)) &&
      myRobot->comInt(35, 1))
  {
    myRobot->unlock();
    switchState(STATE_CONNECTED);
    madeConnection();
    ArLog::log(ArLog::Terse, "ArSick: Connected to simulated laser.");
    return true;
  }
  else
  {
    switchState(STATE_NONE);
    failedConnect();
    ArLog::log(ArLog::Terse, 
               "ArSick: Failed to connect to simulated laser.");
    return false;
  }
}

void ArSick::addConnectCB(ArFunctor *functor, 
                                    ArListPos::Pos position)
{
  if (position == ArListPos::FIRST)
    myConnectCBList.push_front(functor);
  else if (position == ArListPos::LAST)
    myConnectCBList.push_back(functor);
  else
    ArLog::log(ArLog::Terse, 
               "ArSick::myConnectCallbackList: Invalid position.");
}

void ArSick::remConnectCB(ArFunctor *functor)
{
  myConnectCBList.remove(functor);
}


void ArSick::addFailedConnectCB(ArFunctor *functor, 
                                          ArListPos::Pos position)
{
  if (position == ArListPos::FIRST)
    myFailedConnectCBList.push_front(functor);
  else if (position == ArListPos::LAST)
    myFailedConnectCBList.push_back(functor);
  else
    ArLog::log(ArLog::Terse, 
               "ArSick::myConnectCallbackList: Invalid position.");
}

void ArSick::remFailedConnectCB(ArFunctor *functor)
{
  myFailedConnectCBList.remove(functor);
}

void ArSick::addDisconnectNormallyCB(ArFunctor *functor, 
                                               ArListPos::Pos position)
{
  if (position == ArListPos::FIRST)
    myDisconnectNormallyCBList.push_front(functor);
  else if (position == ArListPos::LAST)
    myDisconnectNormallyCBList.push_back(functor);
  else
    ArLog::log(ArLog::Terse, 
               "ArSick::myConnectCallbackList: Invalid position.");
}

void ArSick::remDisconnectNormallyCB(ArFunctor *functor)
{
  myDisconnectNormallyCBList.remove(functor);
}

void ArSick::addDisconnectOnErrorCB(ArFunctor *functor, 
                                              ArListPos::Pos position)
{
  if (position == ArListPos::FIRST)
    myDisconnectOnErrorCBList.push_front(functor);
  else if (position == ArListPos::LAST)
    myDisconnectOnErrorCBList.push_back(functor);
  else
    ArLog::log(ArLog::Terse, 
               "ArSick::myConnectCallbackList: Invalid position");
}

void ArSick::remDisconnectOnErrorCB(ArFunctor *functor)
{
  myDisconnectOnErrorCBList.remove(functor);
}

void ArSick::addDataCB(ArFunctor *functor, 
                                    ArListPos::Pos position)
{
  if (position == ArListPos::FIRST)
    myDataCBList.push_front(functor);
  else if (position == ArListPos::LAST)
    myDataCBList.push_back(functor);
  else
    ArLog::log(ArLog::Terse, 
               "ArSick::addDataCB: Invalid position.");
}

void ArSick::remDataCB(ArFunctor *functor)
{
  myDataCBList.remove(functor);
}

void ArSick::dropConnection(void)
{
  std::list<ArFunctor *>::iterator it;  

  if (myState != STATE_CONNECTED)
    return;

  myCurrentBuffer.reset();
  myCumulativeBuffer.reset();
  ArLog::log(ArLog::Terse, 
             "ArSick:  Lost connection to the laser because of error.");
  switchState(STATE_NONE);
  for (it = myDisconnectOnErrorCBList.begin(); 
       it != myDisconnectOnErrorCBList.end(); 
       it++)
    (*it)->invoke();
  if (myConn != NULL)
    myConn->close();
}

void ArSick::failedConnect(void)
{
  std::list<ArFunctor *>::iterator it;  
  
  switchState(STATE_NONE);
  for (it = myFailedConnectCBList.begin(); 
       it != myFailedConnectCBList.end(); 
       it++)
    (*it)->invoke();
  if (myConn != NULL)
    myConn->close();
}

void ArSick::madeConnection(void)
{
  std::list<ArFunctor *>::iterator it;

  myLastReading.setToNow();
  for (it = myConnectCBList.begin(); it != myConnectCBList.end(); it++)
    (*it)->invoke();
}

bool ArSick::disconnect(bool doNotLockRobotForSim)
{
  std::list<ArFunctor *>::iterator it;  
  bool ret;
  ArSerialConnection *conn;

  myStateMutex.lock();
  if (myState == STATE_NONE)
  {
    myStateMutex.unlock();
    return true;
  }
    
  if (myState != STATE_CONNECTED)
  {
    lockDevice();
    myConnLock.lock();
    myState = STATE_NONE;
    ret = myConn->close();
    myConnLock.unlock();
    unlockDevice();
    ArLog::log(ArLog::Terse, "ArSick: Disconnecting from laser that was not fully connected to...");
    ArLog::log(ArLog::Terse, "this may cause problems later.");
    myStateMutex.unlock();
    return ret;
  }

  myCurrentBuffer.reset();
  myCumulativeBuffer.reset();
  ArLog::log(ArLog::Terse, "ArSick: Disconnecting from laser.");
  myState = STATE_NONE;
  myStateMutex.unlock();
  for (it = myDisconnectNormallyCBList.begin(); 
       it != myDisconnectNormallyCBList.end(); 
       it++)
    (*it)->invoke();
  if (myUseSim)
  {
    if (myRobot == NULL)
      return false;
    if (!doNotLockRobotForSim)
      myRobot->lock();
    ret = myRobot->comInt(35, 1);
    if (!doNotLockRobotForSim)
      myRobot->unlock();
    return ret;
  }
  else
  {
    myConnLock.lock();
    while (mySickPacketReceiver.receivePacket() != NULL);
    myPacket.empty();
    myPacket.uByteToBuf(0x20);
    myPacket.uByteToBuf(0x25);
    myPacket.finalizePacket();
    ret = myConn->write(myPacket.getBuf(), myPacket.getLength());
    // put the thing back to 9600 baud
    ArUtil::sleep(1000);
    myPacket.empty();
    myPacket.byteToBuf(0x20);
    myPacket.byteToBuf(0x42);
    myPacket.finalizePacket();
    if (myConn->write(myPacket.getBuf(), myPacket.getLength()))
    {
      ArUtil::sleep(20);
      if ((conn = dynamic_cast<ArSerialConnection *>(myConn)))
          conn->setBaud(9600);
    } else
      ret = false;
    ret = ret && myConn->close();
    myConnLock.unlock();
    ArUtil::sleep(300);
    return ret;
  }
}

bool ArSick::blockingConnect(void)
{
  int ret;
  // if we're using the sim
  if (myUseSim)
  {
    return internalConnectSim();
  }
  // if we're talking to a real laser
  else 
  {
    lockDevice();
    myConnLock.lock();
    switchState(STATE_INIT);
    unlockDevice();
    while (getRunningWithLock() && (ret = internalConnectHandler()) == 0)
      ArUtil::sleep(100);
    myConnLock.unlock();
    if (ret == 1)
      return true;
    else 
      return false;
  }
  return false;
}

bool ArSick::asyncConnect(void)
{
  if (myState == STATE_CONNECTED)
  {
    ArLog::log(ArLog::Terse,"ArSick: already connected to laser.");
    return false;
  }
  if (myUseSim || getRunning() || myRunningOnRobot)
  {
    myStartConnect = true;
    return true;
  } 
  else
  {
    ArLog::log(ArLog::Terse, "ArSick: Could not connect, to make an async connection either the sim needs to be used, the device needs to be run or runAsync, or the device needs to be runOnRobot.");
    return false;
  }
}

bool ArSick::runOnRobot(void)
{
  if (myRobot == NULL)
    return false;
  else
  {  
    myRunningOnRobot = true;
    if (getRunning())
      stopRunning();
    return true;
  }
}

void ArSick::processPacket(ArSickPacket *packet, ArPose pose,
                                    ArPose encoderPose,
                                    unsigned int counter,
                                    bool deinterlace,
                                    ArPose deinterlaceDelta)
{
  std::list<ArFunctor *>::iterator it;  
  unsigned int value;
  unsigned int numReadings;
  unsigned int i;
  double atDeg;
  unsigned int onReading;
  ArSensorReading *reading;
  int dist;
  std::list<ArSensorReading *>::iterator tempIt;
  int multiplier;
  ArTransform transform;
  std::list<double>::iterator ignoreIt;  
  bool ignore;

  //if (packet->getID() != 0xb0)
  //printf("Got in packet of type 0x%x\n", packet->getID());
  if (packet->getID() == 0xb0)
  {
    value = packet->bufToUByte2();
    numReadings = value & 0x3ff;
    //printf("numreadings %d\n", numReadings);
    if (!(value & ArUtil::BIT14) && !(value & ArUtil::BIT15))
      multiplier = 10;
    else if ((value & ArUtil::BIT14) && !(value & ArUtil::BIT15))
      multiplier = 1;
    else if (!(value & ArUtil::BIT14) && (value & ArUtil::BIT15))
      multiplier = 100;
    else
    {
      ArLog::log(ArLog::Terse, 
                 "ArSick::processPacket: bad distance configuration in packet\n");
      multiplier = 0;
    }
    //printf("%ld ms after last reading.\n", myLastReading.mSecSince());
    /*printf("Reading number %d, complete %d, unit: %d %d:\n", numReadings,
      !(bool)(value & ArUtil::BIT13), (bool)(value & ArUtil::BIT14),
      (bool)(value & ArUtil::BIT15));*/
    while (myAssembleReadings->size() > numReadings)
    {
      ArLog::log(ArLog::Verbose, "ArSick::processPacket, too many readings, popping one.\n");
      tempIt = myAssembleReadings->begin();
      if (tempIt != myAssembleReadings->end())
        delete (*tempIt);
      myAssembleReadings->pop_front();
    }
    
    // If we don't have any sensor readings created at all, make 'em all 
    if (myAssembleReadings->size() == 0)
      for (i = 0; i < numReadings; i++)
        myAssembleReadings->push_back(new ArSensorReading);

    transform.setTransform(pose);
    //deinterlaceDelta = transform.doInvTransform(deinterlacePose);
    // printf("usePose2 %d, th1 %.0f th2 %.0f\n",  usePose2, pose.getTh(), pose2.getTh());
    for (atDeg = mySensorPose.getTh() - myOffsetAmount, onReading = 0,
         myIter = myAssembleReadings->begin();
         (onReading < numReadings && 
          packet->getReadLength() < packet->getLength() - 4);
         myWhichReading++, atDeg += myIncrementAmount, myIter++, onReading++)
    {
      reading = (*myIter);
      //reading->resetSensorPosition(0, 0, 0);

      //value = packet->bufToUByte2() & 0x1fff;
      //dist = (value & 0x1fff) * multiplier ;
      value = packet->bufToUByte2() & 0x7fff;
      dist = value * multiplier ;
      //printf("%d ", dist);

      ignore = false;
      for (ignoreIt = myIgnoreReadings.begin(); 
           ignoreIt != myIgnoreReadings.end();
           ignoreIt++)
      {
        if (ArMath::fabs(ArMath::subAngle(atDeg, *(ignoreIt))) < 1.0)
        {
          ignore = true;
          break;
        }
      }
      if (myMinRange != 0 && dist < (int)myMinRange)
        ignore = true;
      if (myMaxRange != 0 && dist > (int)myMaxRange)
        ignore = true;
      if (deinterlace && (onReading % 2) == 0)
      {
        reading->resetSensorPosition(
               ArMath::roundInt(mySensorPose.getX() + deinterlaceDelta.getX()),
               ArMath::roundInt(mySensorPose.getY() + deinterlaceDelta.getY()),
               ArMath::addAngle(atDeg, deinterlaceDelta.getTh()));
        reading->newData(dist, pose, encoderPose, transform, counter, 
                         packet->getTimeReceived(), ignore);
      }
      else
      {
        reading->resetSensorPosition(ArMath::roundInt(mySensorPose.getX()),
                                     ArMath::roundInt(mySensorPose.getY()),
                                     atDeg); 
        reading->newData(dist, pose, encoderPose, transform, counter, 
                         packet->getTimeReceived(), ignore);
      }
      /*
      reading->newData(onReading, 0, 0, 0,
                       ArTransform(), counter, 
                       packet->getTimeReceived());
      */
      tempIt = myIter;
      tempIt++;
      if (tempIt == myAssembleReadings->end() && 
          onReading + 1 != numReadings)
      {
        myAssembleReadings->push_back(new ArSensorReading);
      }
    }
    // set ArRangeDevice buffer, switch internal buffers
    myRawReadings = myAssembleReadings;
    //printf("Readings? 0x%x\n", myRawReadings);
    myAssembleReadings = myCurrentReadings;
    myCurrentReadings = myRawReadings;
    //printf("\n");
    myLastReading.setToNow();
    filterReadings();
    
    if (myTimeLastSickPacket != time(NULL)) 
    {
      myTimeLastSickPacket = time(NULL);
      mySickPacCount = mySickPacCurrentCount;
      mySickPacCurrentCount = 0;
    }
    mySickPacCurrentCount++;
    for (it = myDataCBList.begin(); it != myDataCBList.end(); it++)
      (*it)->invoke();
  }
}

void ArSick::runOnce(bool lockRobot)
{
  ArSickPacket *packet;
  unsigned int counter;
  int ret;
  ArTime time;
  ArTime time2;
  ArPose pose;
  ArPose pose2;
  ArPose encoderPose;

  if (myProcessImmediately && myRobot != NULL)
  {
    if (lockRobot)
      myRobot->lock();
    pose = myRobot->getPose();
    counter = myRobot->getCounter();
    if (lockRobot)
      myRobot->unlock();
  }

  lockDevice();
  if (myState == STATE_CONNECTED && myTimeoutTime > 0 && 
      myLastReading.mSecSince() > myTimeoutTime * 1000)
  {
    dropConnection();
    unlockDevice();
    return;
  }
  if (myUseSim)
  {
    unlockDevice();
    return;
  }
  if (myState == STATE_CONNECTED)
  {
    unlockDevice();
    myConnLock.lock();
    packet = mySickPacketReceiver.receivePacket();
    myConnLock.unlock();
    lockDevice();
    // if we're attached to a robot and have a packet
    if (myRobot != NULL && packet != NULL && !myProcessImmediately)
    {
      myPackets.push_back(packet);
    }
    else if (myRobot != NULL && packet != NULL && myProcessImmediately)
    {
      unlockDevice();
      if (lockRobot && myInterpolation)
        myRobot->lock();
      // try to get the interpolated position, if we can't, just use
      // the robot's pose
      if (myInterpolation && (ret = myRobot->getPoseInterpPosition(
              packet->getTimeReceived(), &pose)) < 0)
        pose = myRobot->getPose();
      // try to get the interpolated encoder position, if we can't,
      // just fake it from the robot's pose and the encoder transform
      if (myInterpolation && (ret = myRobot->getEncoderPoseInterpPosition(
              packet->getTimeReceived(), &encoderPose)) < 0)
        encoderPose = myRobot->getEncoderTransform().doInvTransform(pose);
      if (lockRobot && myInterpolation)
        myRobot->unlock();
      lockDevice();
      processPacket(packet, pose, encoderPose, counter, false, ArPose());
    }
    else if (packet != NULL) // if there's no robot
    {
      processPacket(packet, pose, encoderPose, 0, false, ArPose());
      delete packet;
    }
  }
  unlockDevice();
  return;

}

int ArSick::getSickPacCount()
{
  if (myTimeLastSickPacket == time(NULL))
    return mySickPacCount;
  if (myTimeLastSickPacket == time(NULL) - 1)
    return mySickPacCurrentCount;
  return 0;
}

void ArSick::setFilterNearDist(double dist)
{
  if (dist >= 0)
    myFilterNearDist = dist;
  else
    ArLog::log(ArLog::Terse, "ArSick::setFilterNearDist given a distance less than 0.\n");

}

double ArSick::getFilterNearDist(void)
{
  return myFilterNearDist;
}


void ArSick::setFilterCumulativeInsertMaxDist(double dist)
{
  if (dist >= 0)
  {
    myFilterCumulativeInsertMaxDist = dist;
    myFilterSquaredCumulativeInsertMaxDist = dist * dist;
  }
  else
    ArLog::log(ArLog::Terse, "ArSick::setFilterCumulativeMaxDistDist given a distance less than 0.\n");
}

double ArSick::getFilterCumulativeInsertMaxDist(void)
{
  return myFilterCumulativeInsertMaxDist;
}

void ArSick::setFilterCumulativeNearDist(double dist)
{
  if (dist >= 0)
  {
    myFilterCumulativeNearDist = dist;
    myFilterSquaredCumulativeNearDist = dist * dist;
  }
  else
    ArLog::log(ArLog::Terse, "ArSick::setFilterCumulativeNearDistDist given a distance less than 0.\n");
}

double ArSick::getFilterCumulativeNearDist(void)
{
  return myFilterCumulativeNearDist;
}

void ArSick::setFilterCumulativeCleanDist(double dist)
{
  if (dist >= 0)
  {
    myFilterCumulativeCleanDist = dist;
    myFilterSquaredCumulativeCleanDist = dist * dist;
  }
  else
    ArLog::log(ArLog::Terse, "ArSick::setFilterCumulativeCleanDistDist given a distance less than 0.\n");
}

double ArSick::getFilterCumulativeCleanDist(void)
{
  return myFilterCumulativeCleanDist;
}

void ArSick::setFilterCleanCumulativeInterval(int milliSeconds)
{
  if (milliSeconds >= 0)
  {
    myFilterCleanCumulativeInterval = milliSeconds;
  }
  else
    ArLog::log(ArLog::Terse, "ArSick::setFilterCleanCumulativeInterval given a time less than 0.\n");
}

int ArSick::getFilterCleanCumulativeInterval(void)
{
  return myFilterCleanCumulativeInterval;
}



void ArSick::sensorInterpCallback(void)
{
  std::list<ArSickPacket *>::iterator it;
  std::list<ArSickPacket *> processed;
  ArSickPacket *packet;
  ArTime time;
  ArPose pose;
  int ret;
  int retEncoder;
  ArPose encoderPose;
  ArPose deinterlaceEncoderPose;
  bool deinterlace;
  ArTime deinterlaceTime;
  ArPose deinterlaceDelta;
  
  if (myRunningOnRobot)
    runOnce(false);
  
  lockDevice();
  for (it = myPackets.begin(); it != myPackets.end(); it++)
  {
    packet = (*it);
    time = packet->getTimeReceived();
    time.addMSec(-13);
    if ((ret = myRobot->getPoseInterpPosition(time, &pose)) == 1 &&
        (retEncoder = 
         myRobot->getEncoderPoseInterpPosition(time, &encoderPose)) == 1)
    {
      deinterlaceTime = packet->getTimeReceived();
      deinterlaceTime.addMSec(-27);
      
      if (myIncrement == INCREMENT_HALF && 
          (myRobot->getEncoderPoseInterpPosition(
                  deinterlaceTime, &deinterlaceEncoderPose)) == 1)
        deinterlace = true;
      else
        deinterlace = false;

      ArTransform deltaTransform;
      deltaTransform.setTransform(encoderPose);
      deinterlaceDelta = deltaTransform.doInvTransform(deinterlaceEncoderPose);

      processPacket(packet, pose, encoderPose, myRobot->getCounter(),
                    deinterlace, deinterlaceDelta);
      processed.push_back(packet);
    }
    else if (ret < -1 || retEncoder < -1)
    {
      if (myRobot->isConnected())
        ArLog::log(ArLog::Normal, "ArSick::processPacket: too old to process\n");
      else
      {
        processPacket(packet, pose, encoderPose, myRobot->getCounter(), false,
                      ArPose());
      }
      processed.push_back(packet);
    }
    else 
    {
      //ArLog::log(ArLog::Terse, "ArSick::processPacket: error %d from interpolation\n", ret);
      //printf("$$$ ret = %d\n", ret);
    }
  }
  while ((it = processed.begin()) != processed.end())
  {
    packet = (*it);
    myPackets.remove(packet);
    processed.pop_front();
    delete packet;
  }
  unlockDevice();
}

void *ArSick::runThread(void *arg)
{
  while (getRunningWithLock())
  {
    lockDevice();
    if (myStartConnect)
    {
      myStartConnect = false;
      switchState(STATE_INIT);
      if (myUseSim)
      {
        unlockDevice();
        internalConnectSim();
      }
      else 
      {
        unlockDevice();
        while (getRunningWithLock())
        {
          lockDevice();
          myConnLock.lock();
          if (internalConnectHandler() != 0)
          {
            myConnLock.unlock();
            unlockDevice();
            break;
          }
          myConnLock.unlock();
          unlockDevice();
          ArUtil::sleep(1);
        }
      }
    } else
      unlockDevice();
    runOnce(true);
    ArUtil::sleep(1);
  }
  lockDevice();
  if (isConnected())
  {
    disconnect();
  }
  unlockDevice();

  return NULL;
}

void ArSick::applyTransform(ArTransform trans,
                                                bool doCumulative)
{
  myCurrentBuffer.applyTransform(trans);
  std::list<ArSensorReading *>::iterator it;

  for (it = myRawReadings->begin(); it != myRawReadings->end(); ++it)
    (*it)->applyTransform(trans);

  if (doCumulative)
    myCumulativeBuffer.applyTransform(trans);
}

---