A class for interfacing XSens 4th generation Inertial Measuring Units (IMUs): MTi 10-series, MTi 100-series.
Usage considerations:
MRPT/scripts/52-xsens.rules
in /etc/udev/rules.d/
to allow access to all users.For the older 3rd generation devices, see the class mrpt::hwdrivers::CIMUXSens
Definition at line 51 of file CIMUXSens_MT4.h.
#include <mrpt/hwdrivers/CIMUXSens_MT4.h>
Public Types | |
enum | TSensorState { ssInitializing = 0, ssWorking, ssError } |
The current state of the sensor. More... | |
typedef std::multimap< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > | TListObservations |
typedef std::pair< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > | TListObsPair |
typedef CGenericSensorPtr | Ptr |
typedef std::shared_ptr< const CGenericSensor > | ConstPtr |
Public Member Functions | |
CIMUXSens_MT4 () | |
Constructor. More... | |
virtual | ~CIMUXSens_MT4 () |
Destructor. More... | |
void | doProcess () |
This method will be invoked at a minimum rate of "process_rate" (Hz) More... | |
void | initialize () |
Turns on the xSens device and configure it for getting orientation data. More... | |
virtual const mrpt::hwdrivers::TSensorClassId * | GetRuntimeClass () const =0 |
TSensorState | getState () const |
The current state of the sensor. More... | |
double | getProcessRate () const |
std::string | getSensorLabel () const |
void | setSensorLabel (const std::string &sensorLabel) |
void | enableVerbose (bool enabled=true) |
Enable or disable extra debug info dumped to std::cout during sensor operation. More... | |
bool | isVerboseEnabled () const |
void | loadConfig (const mrpt::utils::CConfigFileBase &configSource, const std::string §ion) |
Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific". More... | |
void | getObservations (TListObservations &lstObjects) |
Returns a list of enqueued objects, emptying it (thread-safe). More... | |
virtual void | setPathForExternalImages (const std::string &directory) |
Set the path where to save off-rawlog image files (will be ignored in those sensors where this is not applicable). More... | |
void | setExternalImageFormat (const std::string &ext) |
Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg". More... | |
void | setExternalImageJPEGQuality (const unsigned int quality) |
The quality of JPEG compression, when external images is enabled and the format is "jpg". More... | |
unsigned int | getExternalImageJPEGQuality () const |
Static Public Member Functions | |
static void | registerClass (const TSensorClassId *pNewClass) |
Register a class into the internal list of "CGenericSensor" descendents. More... | |
static CGenericSensor * | createSensor (const std::string &className) |
Creates a sensor by a name of the class. More... | |
static CGenericSensorPtr | createSensorPtr (const std::string &className) |
Just like createSensor, but returning a smart pointer to the newly created sensor object. More... | |
Protected Member Functions | |
void | loadConfig_sensorSpecific (const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection) |
See the class documentation at the top for expected parameters. More... | |
void | appendObservations (const std::vector< mrpt::utils::CSerializablePtr > &obj) |
This method must be called by derived classes to enqueue a new observation in the list to be returned by getObservations. More... | |
void | appendObservation (const mrpt::utils::CSerializablePtr &obj) |
Like appendObservations() but for just one observation. More... | |
Protected Attributes | |
int | m_port_bauds |
Baudrate, only for COM ports. More... | |
std::string | m_portname |
The USB or COM port name (if blank -> autodetect) More... | |
int | m_sampleFreq |
uint64_t | m_timeStartUI |
mrpt::system::TTimeStamp | m_timeStartTT |
mrpt::poses::CPose3D | m_sensorPose |
void * | m_dev_ptr |
void * | m_devid_ptr |
size_t | m_grab_decimation_counter |
Used when "m_grab_decimation" is enabled. More... | |
TSensorState | m_state |
bool | m_verbose |
std::string | m_path_for_external_images |
The path where to save off-rawlog images: empty means save images embedded in the rawlog. More... | |
std::string | m_external_images_format |
The extension ("jpg","gif","png",...) that determines the format of images saved externally. More... | |
unsigned int | m_external_images_jpeg_quality |
For JPEG images, the quality (default=95%). More... | |
Common settings to any sensor, loaded in "loadConfig" | |
double | m_process_rate |
See CGenericSensor. More... | |
size_t | m_max_queue_len |
See CGenericSensor. More... | |
size_t | m_grab_decimation |
If set to N>=2, only 1 out of N observations will be saved to m_objList. More... | |
std::string | m_sensorLabel |
See CGenericSensor. More... | |
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inherited |
Definition at line 124 of file CGenericSensor.h.
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inherited |
Definition at line 123 of file CGenericSensor.h.
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inherited |
Definition at line 89 of file CGenericSensor.h.
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inherited |
Definition at line 90 of file CGenericSensor.h.
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inherited |
The current state of the sensor.
Enumerator | |
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ssInitializing | |
ssWorking | |
ssError |
Definition at line 95 of file CGenericSensor.h.
CIMUXSens_MT4::CIMUXSens_MT4 | ( | ) |
Constructor.
Definition at line 327 of file CIMUXSens_MT4.cpp.
References m_dev_ptr, m_devid_ptr, mrpt::hwdrivers::CGenericSensor::m_sensorLabel, and THROW_EXCEPTION.
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virtual |
Destructor.
Definition at line 350 of file CIMUXSens_MT4.cpp.
References m_dev_ptr, m_devid_ptr, and my_xsens_device.
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inlineprotectedinherited |
Like appendObservations() but for just one observation.
Definition at line 168 of file CGenericSensor.h.
Referenced by doProcess(), mrpt::hwdrivers::CIMUXSens::doProcess(), mrpt::hwdrivers::CSkeletonTracker::doProcess(), mrpt::hwdrivers::CSwissRanger3DCamera::doProcess(), mrpt::hwdrivers::CIMUIntersense::doProcess(), mrpt::hwdrivers::CGyroKVHDSP3000::doProcess(), mrpt::hwdrivers::C2DRangeFinderAbstract::doProcess(), mrpt::hwdrivers::CCANBusReader::doProcess(), mrpt::hwdrivers::CVelodyneScanner::doProcess(), and mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow().
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protectedinherited |
This method must be called by derived classes to enqueue a new observation in the list to be returned by getObservations.
Passed objects must be created in dynamic memory and a smart pointer passed. Example of creation:
If several observations are passed at once in the vector, they'll be considered as a block regarding the grabbing decimation factor.
Definition at line 53 of file CGenericSensor.cpp.
References CLASS_ID, mrpt::hwdrivers::CGenericSensor::m_csObjList, mrpt::hwdrivers::CGenericSensor::m_grab_decimation, mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter, mrpt::hwdrivers::CGenericSensor::m_objList, and THROW_EXCEPTION.
Referenced by mrpt::hwdrivers::CNationalInstrumentsDAQ::doProcess(), and mrpt::hwdrivers::CKinect::doProcess().
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staticinherited |
Creates a sensor by a name of the class.
Typically the user may want to create a smart pointer around the returned pointer, whis is made with:
Definition at line 103 of file CGenericSensor.cpp.
References mrpt::hwdrivers::CGenericSensor::get_registered_sensor_classes().
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inlinestaticinherited |
Just like createSensor, but returning a smart pointer to the newly created sensor object.
Definition at line 201 of file CGenericSensor.h.
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virtual |
This method will be invoked at a minimum rate of "process_rate" (Hz)
This | method must throw an exception with a descriptive message if some critical error is found. |
Implements mrpt::hwdrivers::CGenericSensor.
Definition at line 365 of file CIMUXSens_MT4.cpp.
References mrpt::hwdrivers::CGenericSensor::appendObservation(), mrpt::system::buildTimestampFromParts(), mrpt::system::TTimeParts::day, mrpt::system::TTimeParts::day_of_week, mrpt::system::TTimeParts::daylight_saving, DEG2RAD, mrpt::obs::gnss::Message_NMEA_RMC::content_t::direction_degrees, mrpt::obs::gnss::Message_NMEA_RMC::fields, mrpt::system::TTimeParts::hour, mrpt::obs::gnss::UTC_time::hour, mrpt::obs::IMU_ALTITUDE, mrpt::obs::IMU_MAG_X, mrpt::obs::IMU_MAG_Y, mrpt::obs::IMU_MAG_Z, mrpt::obs::IMU_ORI_QUAT_W, mrpt::obs::IMU_ORI_QUAT_X, mrpt::obs::IMU_ORI_QUAT_Y, mrpt::obs::IMU_ORI_QUAT_Z, mrpt::obs::IMU_PITCH, mrpt::obs::IMU_PITCH_VEL, mrpt::obs::IMU_ROLL, mrpt::obs::IMU_ROLL_VEL, mrpt::obs::IMU_TEMPERATURE, mrpt::obs::IMU_X_ACC, mrpt::obs::IMU_X_VEL, mrpt::obs::IMU_Y_ACC, mrpt::obs::IMU_Y_VEL, mrpt::obs::IMU_YAW, mrpt::obs::IMU_YAW_VEL, mrpt::obs::IMU_Z_ACC, mrpt::obs::IMU_Z_VEL, initialize(), mrpt::obs::gnss::Message_NMEA_RMC::content_t::latitude_degrees, mrpt::obs::gnss::Message_NMEA_RMC::content_t::longitude_degrees, XsUtcTime::m_day, XsUtcTime::m_hour, XsUtcTime::m_minute, XsUtcTime::m_month, XsUtcTime::m_nano, XsUtcTime::m_second, mrpt::hwdrivers::CGenericSensor::m_sensorLabel, m_sensorPose, mrpt::hwdrivers::CGenericSensor::m_state, m_timeStartTT, m_timeStartUI, XsUtcTime::m_year, mrpt::system::TTimeParts::minute, mrpt::obs::gnss::UTC_time::minute, mrpt::system::TTimeParts::month, my_xsens_device, my_xsens_devid, mrpt::system::now(), mrpt::obs::gnss::UTC_time::sec, mrpt::system::TTimeParts::second, LegacyDataPacket::setDataFormat(), LegacyDataPacket::setDeviceId(), LegacyDataPacket::setMessage(), LegacyDataPacket::setXbusSystem(), mrpt::system::sleep(), mrpt::obs::gnss::Message_NMEA_RMC::content_t::speed_knots, mrpt::hwdrivers::CGenericSensor::ssError, mrpt::hwdrivers::CGenericSensor::ssWorking, THROW_EXCEPTION, mrpt::obs::gnss::Message_NMEA_RMC::content_t::UTCTime, mrpt::obs::gnss::Message_NMEA_RMC::content_t::validity_char, XMID_MtData, XMID_MtData2, XOM_Orientation, XOS_CalibratedMode_All, XOS_OrientationMode_Euler, XOS_Timestamp_PacketCounter, XsDataPacket_assignFromXsLegacyDataPacket(), XSF_GpsValid, and mrpt::system::TTimeParts::year.
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inlineinherited |
Enable or disable extra debug info dumped to std::cout during sensor operation.
Default: disabled unless the environment variable "MRPT_HWDRIVERS_VERBOSE" is set to "1" during object creation.
Definition at line 113 of file CGenericSensor.h.
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inlineinherited |
Definition at line 255 of file CGenericSensor.h.
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inherited |
Returns a list of enqueued objects, emptying it (thread-safe).
The objects must be freed by the invoker.
Definition at line 90 of file CGenericSensor.cpp.
References mrpt::hwdrivers::CGenericSensor::m_csObjList, and mrpt::hwdrivers::CGenericSensor::m_objList.
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inlineinherited |
Definition at line 105 of file CGenericSensor.h.
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pure virtualinherited |
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inlineinherited |
Definition at line 107 of file CGenericSensor.h.
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inlineinherited |
The current state of the sensor.
Definition at line 103 of file CGenericSensor.h.
Turns on the xSens device and configure it for getting orientation data.
Reimplemented from mrpt::hwdrivers::CGenericSensor.
Definition at line 563 of file CIMUXSens_MT4.cpp.
References m_port_bauds, m_portname, m_sampleFreq, mrpt::hwdrivers::CGenericSensor::m_state, mrpt::hwdrivers::CGenericSensor::m_verbose, my_xsens_device, my_xsens_devid, mrpt::hwdrivers::CGenericSensor::ssError, mrpt::hwdrivers::CGenericSensor::ssInitializing, mrpt::hwdrivers::CGenericSensor::ssWorking, THROW_EXCEPTION, XDI_Acceleration, XDI_AltitudeEllipsoid, XDI_LatLon, XDI_MagneticField, XDI_Quaternion, XDI_RateOfTurn, XDI_SampleTime64, XDI_SampleTimeCoarse, XDI_SampleTimeFine, XDI_StatusByte, XDI_Temperature, XDI_UtcTime, XDI_VelocityXYZ, XOM_Orientation, XOS_CalibratedMode_All, XOS_OrientationMode_Euler, XOS_Timestamp_PacketCounter, and xsEnumerateUsbDevices().
Referenced by doProcess().
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inlineinherited |
Definition at line 114 of file CGenericSensor.h.
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inherited |
Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific".
This | method throws an exception with a descriptive message if some critical parameter is missing or has an invalid value. |
Definition at line 131 of file CGenericSensor.cpp.
References mrpt::hwdrivers::CGenericSensor::loadConfig_sensorSpecific(), mrpt::hwdrivers::CGenericSensor::m_grab_decimation, mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter, mrpt::hwdrivers::CGenericSensor::m_max_queue_len, mrpt::hwdrivers::CGenericSensor::m_process_rate, mrpt::hwdrivers::CGenericSensor::m_sensorLabel, MRPT_END, MRPT_START, mrpt::utils::CConfigFileBase::read_double(), mrpt::utils::CConfigFileBase::read_int(), and mrpt::utils::CConfigFileBase::read_string().
Referenced by mrpt::hwdrivers::prepareVideoSourceFromPanel(), and mrpt::hwdrivers::prepareVideoSourceFromUserSelection().
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protectedvirtual |
See the class documentation at the top for expected parameters.
Implements mrpt::hwdrivers::CGenericSensor.
Definition at line 679 of file CIMUXSens_MT4.cpp.
References DEG2RAD, m_port_bauds, m_portname, m_sampleFreq, m_sensorPose, mrpt::utils::CConfigFileBase::read_float(), mrpt::utils::CConfigFileBase::read_int(), mrpt::utils::CConfigFileBase::read_string(), and mrpt::poses::CPose3D::setFromValues().
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staticinherited |
Register a class into the internal list of "CGenericSensor" descendents.
Used internally in the macros DEFINE_GENERIC_SENSOR, etc...
Can be used as "CGenericSensor::registerClass( SENSOR_CLASS_ID(CMySensor) );" if building custom sensors outside mrpt libraries in user code.
Definition at line 120 of file CGenericSensor.cpp.
References mrpt::hwdrivers::TSensorClassId::className, and mrpt::hwdrivers::CGenericSensor::get_registered_sensor_classes().
Referenced by mrpt::hwdrivers::CGenericSensor::CLASSINIT_GENERIC_SENSOR::CLASSINIT_GENERIC_SENSOR().
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inlineinherited |
Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg".
Definition at line 247 of file CGenericSensor.h.
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inlineinherited |
The quality of JPEG compression, when external images is enabled and the format is "jpg".
Definition at line 252 of file CGenericSensor.h.
References quality.
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inlinevirtualinherited |
Set the path where to save off-rawlog image files (will be ignored in those sensors where this is not applicable).
An empty string (the default value at construction) means to save images embedded in the rawlog, instead of on separate files.
std::exception | If the directory doesn't exists and cannot be created. |
Reimplemented in mrpt::hwdrivers::CCameraSensor, mrpt::hwdrivers::CKinect, mrpt::hwdrivers::COpenNI2Sensor, mrpt::hwdrivers::COpenNI2_RGBD360, and mrpt::hwdrivers::CSwissRanger3DCamera.
Definition at line 238 of file CGenericSensor.h.
References MRPT_UNUSED_PARAM.
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inlineinherited |
Definition at line 108 of file CGenericSensor.h.
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protected |
Definition at line 64 of file CIMUXSens_MT4.h.
Referenced by CIMUXSens_MT4(), and ~CIMUXSens_MT4().
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protected |
Definition at line 65 of file CIMUXSens_MT4.h.
Referenced by CIMUXSens_MT4(), and ~CIMUXSens_MT4().
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protectedinherited |
The extension ("jpg","gif","png",...) that determines the format of images saved externally.
Definition at line 152 of file CGenericSensor.h.
Referenced by mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), and mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific().
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protectedinherited |
For JPEG images, the quality (default=95%).
Definition at line 153 of file CGenericSensor.h.
Referenced by mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), and mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific().
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protectedinherited |
If set to N>=2, only 1 out of N observations will be saved to m_objList.
Definition at line 139 of file CGenericSensor.h.
Referenced by mrpt::hwdrivers::CGenericSensor::appendObservations(), and mrpt::hwdrivers::CGenericSensor::loadConfig().
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protectedinherited |
Used when "m_grab_decimation" is enabled.
Definition at line 144 of file CGenericSensor.h.
Referenced by mrpt::hwdrivers::CGenericSensor::appendObservations(), and mrpt::hwdrivers::CGenericSensor::loadConfig().
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protectedinherited |
See CGenericSensor.
Definition at line 138 of file CGenericSensor.h.
Referenced by mrpt::hwdrivers::CGenericSensor::loadConfig().
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protectedinherited |
The path where to save off-rawlog images: empty means save images embedded in the rawlog.
Definition at line 151 of file CGenericSensor.h.
Referenced by mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), and mrpt::hwdrivers::CSwissRanger3DCamera::setPathForExternalImages().
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protected |
Baudrate, only for COM ports.
Definition at line 55 of file CIMUXSens_MT4.h.
Referenced by initialize(), and loadConfig_sensorSpecific().
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protected |
The USB or COM port name (if blank -> autodetect)
Definition at line 56 of file CIMUXSens_MT4.h.
Referenced by initialize(), and loadConfig_sensorSpecific().
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protectedinherited |
See CGenericSensor.
Definition at line 137 of file CGenericSensor.h.
Referenced by mrpt::hwdrivers::CGyroKVHDSP3000::initialize(), and mrpt::hwdrivers::CGenericSensor::loadConfig().
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protected |
Definition at line 57 of file CIMUXSens_MT4.h.
Referenced by initialize(), and loadConfig_sensorSpecific().
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protectedinherited |
See CGenericSensor.
Definition at line 140 of file CGenericSensor.h.
Referenced by mrpt::hwdrivers::CCANBusReader::CCANBusReader(), mrpt::hwdrivers::CGPSInterface::CGPSInterface(), mrpt::hwdrivers::CGyroKVHDSP3000::CGyroKVHDSP3000(), mrpt::hwdrivers::CHokuyoURG::CHokuyoURG(), mrpt::hwdrivers::CIMUIntersense::CIMUIntersense(), mrpt::hwdrivers::CIMUXSens::CIMUXSens(), CIMUXSens_MT4(), mrpt::hwdrivers::CKinect::CKinect(), mrpt::hwdrivers::CNationalInstrumentsDAQ::CNationalInstrumentsDAQ(), mrpt::hwdrivers::CRoboPeakLidar::CRoboPeakLidar(), mrpt::hwdrivers::CSickLaserSerial::CSickLaserSerial(), mrpt::hwdrivers::CSickLaserUSB::CSickLaserUSB(), mrpt::hwdrivers::CSkeletonTracker::CSkeletonTracker(), mrpt::hwdrivers::CSwissRanger3DCamera::CSwissRanger3DCamera(), mrpt::hwdrivers::CVelodyneScanner::CVelodyneScanner(), doProcess(), mrpt::hwdrivers::CIMUXSens::doProcess(), mrpt::hwdrivers::CSkeletonTracker::doProcess(), mrpt::hwdrivers::CGyroKVHDSP3000::doProcess(), mrpt::hwdrivers::CIMUIntersense::doProcess(), mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CCANBusReader::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::CKinect::getNextObservation(), mrpt::hwdrivers::CVelodyneScanner::getNextObservation(), mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread(), mrpt::hwdrivers::CGenericSensor::loadConfig(), mrpt::hwdrivers::CSkeletonTracker::processPreview(), mrpt::hwdrivers::C2DRangeFinderAbstract::processPreview(), and mrpt::hwdrivers::CSkeletonTracker::processPreviewNone().
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protected |
Definition at line 62 of file CIMUXSens_MT4.h.
Referenced by doProcess(), and loadConfig_sensorSpecific().
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protectedinherited |
Definition at line 146 of file CGenericSensor.h.
Referenced by mrpt::hwdrivers::CGyroKVHDSP3000::CGyroKVHDSP3000(), doProcess(), mrpt::hwdrivers::CIMUXSens::doProcess(), mrpt::hwdrivers::CSkeletonTracker::doProcess(), mrpt::hwdrivers::CSwissRanger3DCamera::doProcess(), mrpt::hwdrivers::CIMUIntersense::doProcess(), mrpt::hwdrivers::CGyroKVHDSP3000::doProcess(), mrpt::hwdrivers::C2DRangeFinderAbstract::doProcess(), mrpt::hwdrivers::CGPSInterface::doProcess(), mrpt::hwdrivers::CNationalInstrumentsDAQ::doProcess(), mrpt::hwdrivers::CKinect::doProcess(), mrpt::hwdrivers::CVelodyneScanner::doProcess(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CCANBusReader::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow(), mrpt::hwdrivers::CVelodyneScanner::getNextObservation(), initialize(), mrpt::hwdrivers::CIMUXSens::initialize(), mrpt::hwdrivers::CSkeletonTracker::initialize(), mrpt::hwdrivers::CIMUIntersense::initialize(), mrpt::hwdrivers::CGyroKVHDSP3000::initialize(), mrpt::hwdrivers::CVelodyneScanner::initialize(), mrpt::hwdrivers::CNationalInstrumentsDAQ::readFromDAQ(), and mrpt::hwdrivers::CIMUXSens::searchPortAndConnect().
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Definition at line 60 of file CIMUXSens_MT4.h.
Referenced by doProcess().
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protected |
Definition at line 59 of file CIMUXSens_MT4.h.
Referenced by doProcess().
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protectedinherited |
Definition at line 147 of file CGenericSensor.h.
Referenced by mrpt::hwdrivers::CGenericSensor::CGenericSensor(), mrpt::hwdrivers::CRoboPeakLidar::checkCOMMs(), mrpt::hwdrivers::CNTRIPEmitter::doProcess(), mrpt::hwdrivers::CGPSInterface::doProcess(), mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread(), initialize(), mrpt::hwdrivers::CHokuyoURG::initialize(), mrpt::hwdrivers::CVelodyneScanner::internal_read_PCAP_packet(), mrpt::hwdrivers::CGPSInterface::JAVAD_sendMessage(), mrpt::hwdrivers::CGPSInterface::legacy_topcon_setup_commands(), mrpt::hwdrivers::CGPSInterface::OnConnectionEstablished(), mrpt::hwdrivers::CGPSInterface::OnConnectionShutdown(), mrpt::hwdrivers::CNationalInstrumentsDAQ::stop(), and mrpt::hwdrivers::CGPSInterface::tryToOpenTheCOM().
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