Detailed Description

This "software driver" implements the communication protocol for interfacing a Ultrasonic range finder SRF10 through a custom USB board.

In this class the "bind" is ignored since it is designed for USB connections only, thus it internally generate the required object for simplicity of use. The serial number of the USB device is used to open it on the first call to "doProcess", thus you must call "loadConfig" before this, or manually call "setDeviceSerialNumber". The default serial number is "SONAR001"

Warning: Avoid defining an object of this class in a global scope if you want to catch all potential exceptions during the constructors (like USB interface DLL not found, etc...)

 PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
-------------------------------------------------------
  [supplied_section_name]
  USB_serialNumber=SONAR001
  gain=6            ; Value between 0 and 16, for analog gains between 40
and 700.
  maxRange=4.0      ; In meters, used for device internal timer.
  minTimeBetweenPings=0.3  ; In seconds
  ; The order in which sonars will be fired, indexed by their I2C addresses
[0,15]
  ;  Up to 16 devices, but you can put any number of devices (from 1 to 16).
  firingOrder=0 1 2 3

Definition at line 53 of file CBoardSonars.h.

#include <mrpt/hwdrivers/CBoardSonars.h>

Inheritance diagram for mrpt::hwdrivers::CBoardSonars:

Public Types
enum	TSeekOrigin { sFromBeginning = 0, sFromCurrent = 1, sFromEnd = 2 }
	Used in CStream::Seek. More...

enum	TSensorState { ssInitializing = 0, ssWorking, ssError, ssUninitialized }
	The current state of the sensor. More...

using	Ptr = std::shared_ptr< CGenericSensor >

using	TListObservations = std::multimap< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr >

using	TListObsPair = std::pair< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr >

Public Member Functions
	CBoardSonars ()
	Constructor. More...

	~CBoardSonars () override=default
	Destructor. More...

bool	queryFirmwareVersion (std::string &out_firmwareVersion)
	Query the firmware version on the device (can be used to test communications). More...

bool	getObservation (mrpt::obs::CObservationRange &obs)
	Request the latest range measurements. More...

bool	programI2CAddress (uint8_t currentAddress, uint8_t newAddress)
	Requests a command of "change address" for a given SRF10 device. More...

void	doProcess () override
	This method will be invoked at a minimum rate of "process_rate" (Hz) More...

bool	isOpen ()
	Checks whether the chip has been successfully open. More...

void	OpenBySerialNumber (const std::string &serialNumber)
	Open by device serial number. More...

void	OpenByDescription (const std::string &description)
	Open by device description. More...

void	Close ()
	Close the USB device. More...

void	ResetDevice ()
	Reset the USB device. More...

void	Purge ()
	Purge the I/O buffers. More...

void	SetLatencyTimer (unsigned char latency_ms)
	Change the latency timer (in milliseconds) implemented on the FTDI chip: for a few ms, data is not sent to the PC waiting for possible more data, to save USB trafic. More...

void	SetTimeouts (unsigned long dwReadTimeout_ms, unsigned long dwWriteTimeout_ms)
	Change read & write timeouts, in milliseconds. More...

void	ListAllDevices (TFTDIDeviceList &outList)
	Generates a list with all FTDI devices connected right now. More...

size_t	ReadSync (void *Buffer, size_t Count)
	Tries to read, raising no exception if not all the bytes are available, but raising one if there is some communication error. More...

size_t	WriteSync (const void *Buffer, size_t Count)
	Tries to write, raising no exception if not all the bytes are available, but raising one if there is some communication error. More...

size_t	ReadBufferImmediate (void *Buffer, size_t Count) override
	Reads a block of bytes from the stream into Buffer, and returns the amound of bytes actually read, without waiting for more extra bytes to arrive (just those already enqued in the stream). More...

size_t	Read (void *Buffer, size_t Count) override
	Introduces a pure virtual method responsible for reading from the stream. More...

size_t	Write (const void *Buffer, size_t Count) override
	Introduces a pure virtual method responsible for writing to the stream. More...

uint64_t	Seek (int64_t Offset, CStream::TSeekOrigin Origin=sFromBeginning) override
	This virtual method does nothing in this class. More...

virtual uint64_t	Seek (int64_t Offset, CStream::TSeekOrigin Origin=sFromBeginning)=0
	Introduces a pure virtual method for moving to a specified position in the streamed resource. More...

uint64_t	getTotalBytesCount () const override
	This virtual method does nothing in this class. More...

uint64_t	getPosition () const override
	This virtual method does nothing in this class. More...

virtual int	printf (const char *fmt,...) MRPT_printf_format_check(2
	Writes a string to the stream in a textual form. More...

template<typename CONTAINER_TYPE >
virtual int void	printf_vector (const char *fmt, const CONTAINER_TYPE &V, char separator=',')
	Prints a vector in the format [A,B,C,...] using CStream::printf, and the fmt string for each vector element `T`. More...

bool	getline (std::string &out_str)
	Reads from the stream until a ' ' character is found ('' characters are ignored). 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::config::CConfigFileBase &configSource, const std::string &section)
	Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific". More...

virtual void	initialize ()
	This method can or cannot be implemented in the derived class, depending on the need for it. More...

void	getObservations (TListObservations &lstObjects)
	Returns a list of enqueued objects, emptying it (thread-safe). More...

virtual void	setPathForExternalImages ([[maybe_unused]] 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 Ptr	createSensorPtr (const std::string &className)
	Just like createSensor, but returning a smart pointer to the newly created sensor object. More...

Protected Member Functions
bool	checkConnectionAndConnect ()
	Tries to connect to the USB device (if disconnected). More...

bool	sendConfigCommands ()
	Sends the configuration (max range, gain,...) to the USB board. More...

void	loadConfig_sensorSpecific (const mrpt::config::CConfigFileBase &configSource, const std::string &iniSection) override
	Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file, loading from the section "[iniSection]" (see config::CConfigFileBase and derived classes) See hwdrivers::CBoardSonars for the possible parameters. More...

void	ftdi_read (void lpvBuffer, unsigned long dwBuffSize, unsigned long lpdwBytesRead)

void	ftdi_write (const void lpvBuffer, unsigned long dwBuffSize, unsigned long lpdwBytes)

void	appendObservations (const std::vector< mrpt::serialization::CSerializable::Ptr > &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::serialization::CSerializable::Ptr &obj)
	Like appendObservations() but for just one observation. More...

Protected Attributes
std::string	m_usbSerialNumber
	A copy of the device serial number (to open the USB FTDI chip) More...

uint8_t	m_gain
	A value between 0 and 16, for gains between 40 and 700 (not linear). More...

float	m_maxRange
	The maximum range in meters, used for the internal device timer (value between 4cm and 11m). More...

std::vector< int32_t >	m_firingOrder
	The order in which sonars will be fired, indexed by their I2C addresses [0,15]. More...

std::map< uint16_t, int32_t >	m_sonarGains
	The individual gains of the sonars, indexed by their I2C addresses [0,15]. More...

std::map< uint16_t, mrpt::math::TPose3D >	m_sonarPoses
	The poses of the sonars: x[m] y[m] z[m] yaw[deg] pitch[deg] roll[deg] Up to 16 devices, but you can put any number of devices (from 1 to 16). More...

float	m_minTimeBetweenPings
	The minimum time between sonar pings (in seconds). More...

mrpt::containers::circular_buffer< uint8_t >	m_readBuffer
	Used in Read. More...

size_t	m_grab_decimation_counter {0}
	Used when "m_grab_decimation" is enabled. More...

TSensorState	m_state {ssInitializing}

bool	m_verbose {false}

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 {95}
	For JPEG images, the quality (default=95%). More...

Common settings to any sensor, loaded in "loadConfig"
double	m_process_rate {0}
	See CGenericSensor. More...

size_t	m_max_queue_len {200}
	See CGenericSensor. More...

size_t	m_grab_decimation {0}
	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...

Member Typedef Documentation

◆ Ptr

using mrpt::hwdrivers::CGenericSensor::Ptr = std::shared_ptr<CGenericSensor>

inherited

Definition at line 73 of file CGenericSensor.h.

◆ TListObservations

using mrpt::hwdrivers::CGenericSensor::TListObservations = std::multimap< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr>

inherited

Definition at line 77 of file CGenericSensor.h.

◆ TListObsPair

using mrpt::hwdrivers::CGenericSensor::TListObsPair = std::pair< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr>

inherited

Definition at line 79 of file CGenericSensor.h.

Member Enumeration Documentation

◆ TSeekOrigin

enum mrpt::io::CStream::TSeekOrigin

inherited

Used in CStream::Seek.

Enumerator
sFromBeginning
sFromCurrent
sFromEnd

Definition at line 32 of file io/CStream.h.

◆ TSensorState

enum mrpt::hwdrivers::CGenericSensor::TSensorState

inherited

The current state of the sensor.

See also: CGenericSensor::getState

Enumerator
ssInitializing
ssWorking
ssError
ssUninitialized

Definition at line 84 of file CGenericSensor.h.

Constructor & Destructor Documentation

◆ CBoardSonars()

CBoardSonars::CBoardSonars ( )

Constructor.

Definition at line 28 of file CBoardSonars.cpp.

References MRPT_END, and MRPT_START.

◆ ~CBoardSonars()

mrpt::hwdrivers::CBoardSonars::~CBoardSonars ( )

overridedefault

Destructor.

Member Function Documentation

◆ appendObservation()

void mrpt::hwdrivers::CGenericSensor::appendObservation ( const mrpt::serialization::CSerializable::Ptr & obj )

inlineprotectedinherited

Like appendObservations() but for just one observation.

Definition at line 180 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::appendObservations().

Referenced by mrpt::hwdrivers::CGyroKVHDSP3000::doProcess(), mrpt::hwdrivers::CSkeletonTracker::doProcess(), mrpt::hwdrivers::CSwissRanger3DCamera::doProcess(), mrpt::hwdrivers::C2DRangeFinderAbstract::doProcess(), mrpt::hwdrivers::CCANBusReader::doProcess(), mrpt::hwdrivers::CVelodyneScanner::doProcess(), and mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ appendObservations()

void CGenericSensor::appendObservations ( const std::vector< mrpt::serialization::CSerializable::Ptr > & obj )

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:

  mrpt::obs::CObservationGPS::Ptr  o = CObservationGPS::Ptr( new
CObservationGPS() );
  o-> .... // Set data
  appendObservation(o);

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 48 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::CGenericSensor::appendObservation(), mrpt::hwdrivers::CNationalInstrumentsDAQ::doProcess(), and mrpt::hwdrivers::CKinect::doProcess().

Here is the caller graph for this function:

◆ checkConnectionAndConnect()

bool CBoardSonars::checkConnectionAndConnect ( )

protected

Tries to connect to the USB device (if disconnected).

Returns: True on connection OK, false on error.

Definition at line 299 of file CBoardSonars.cpp.

◆ Close()

void CInterfaceFTDI::Close ( )

inherited

Close the USB device.

Definition at line 287 of file CInterfaceFTDI_WIN.cpp.

References ASSERT_, mrpt::containers::circular_buffer< T >::clear(), mrpt::comms::CInterfaceFTDI::m_ftHandle, mrpt::comms::CInterfaceFTDI::m_pClose, mrpt::comms::CInterfaceFTDI::m_readBuffer, MRPT_END, and MRPT_START.

Referenced by mrpt::hwdrivers::CServoeNeck::checkConnectionAndConnect(), mrpt::comms::CInterfaceFTDI::checkErrorAndRaise(), mrpt::hwdrivers::CServoeNeck::disableServo(), mrpt::hwdrivers::CServoeNeck::enableServo(), mrpt::comms::CInterfaceFTDI::ftdi_open(), mrpt::comms::CInterfaceFTDI::ftdi_openEx(), mrpt::hwdrivers::CServoeNeck::getRegisterValue(), mrpt::hwdrivers::CServoeNeck::queryFirmwareVersion(), mrpt::hwdrivers::CServoeNeck::setRegisterValue(), mrpt::hwdrivers::CServoeNeck::setRegisterValueAndSpeed(), and mrpt::comms::CInterfaceFTDI::~CInterfaceFTDI().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ createSensor()

CGenericSensor * CGenericSensor::createSensor ( const std::string & className )

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:

CGenericSensor::Ptr sensor = CGenericSensor::Ptr(

CGenericSensor::createSensor("XXX") );

Returns: A pointer to a new class, or nullptr if class name is unknown.

Definition at line 97 of file CGenericSensor.cpp.

References mrpt::hwdrivers::CGenericSensor::get_registered_sensor_classes().

Referenced by mrpt::hwdrivers::CGenericSensor::createSensorPtr().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ createSensorPtr()

static Ptr mrpt::hwdrivers::CGenericSensor::createSensorPtr ( const std::string & className )

inlinestaticinherited

Just like createSensor, but returning a smart pointer to the newly created sensor object.

Definition at line 210 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::createSensor().

Referenced by mrpt::apps::RawlogGrabberApp::SensorThread().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ doProcess()

void CBoardSonars::doProcess ( )

overridevirtual

This method will be invoked at a minimum rate of "process_rate" (Hz)

Exceptions

This	method must throw an exception with a descriptive message if some critical error is found.

Implements mrpt::hwdrivers::CGenericSensor.

Definition at line 325 of file CBoardSonars.cpp.

References mrpt::obs::CObservationRange::Create(), and mrpt::obs::utils::getObservation().

Here is the call graph for this function:

◆ enableVerbose()

void mrpt::hwdrivers::CGenericSensor::enableVerbose ( bool enabled = true )

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 106 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_verbose.

◆ ftdi_read()

void CInterfaceFTDI::ftdi_read	(	void *	lpvBuffer,
		unsigned long	dwBuffSize,
		unsigned long *	lpdwBytesRead
	)

protectedinherited

Definition at line 303 of file CInterfaceFTDI_WIN.cpp.

References ASSERT_, mrpt::comms::CInterfaceFTDI::checkErrorAndRaise(), mrpt::comms::CInterfaceFTDI::m_ftHandle, mrpt::comms::CInterfaceFTDI::m_pRead, MRPT_END, and MRPT_START.

Referenced by mrpt::comms::CInterfaceFTDI::Read(), and mrpt::comms::CInterfaceFTDI::ReadBufferImmediate().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ ftdi_write()

void CInterfaceFTDI::ftdi_write	(	const void *	lpvBuffer,
		unsigned long	dwBuffSize,
		unsigned long *	lpdwBytes
	)

protectedinherited

Definition at line 315 of file CInterfaceFTDI_WIN.cpp.

References ASSERT_, mrpt::comms::CInterfaceFTDI::checkErrorAndRaise(), mrpt::comms::CInterfaceFTDI::m_ftHandle, mrpt::comms::CInterfaceFTDI::m_pWrite, MRPT_END, and MRPT_START.

Referenced by mrpt::comms::CInterfaceFTDI::Write().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ getExternalImageJPEGQuality()

unsigned int mrpt::hwdrivers::CGenericSensor::getExternalImageJPEGQuality ( ) const

inlineinherited

Definition at line 279 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality.

◆ getline()

bool CStream::getline ( std::string & out_str )

inherited

Reads from the stream until a '
' character is found ('' characters are ignored).

Returns: false on EOF or any other read error.

Definition at line 69 of file CStream.cpp.

◆ getObservation()

bool CBoardSonars::getObservation ( mrpt::obs::CObservationRange & obs )

Request the latest range measurements.

Returns: true on success, false on communications errors or device not found.

Definition at line 209 of file CBoardSonars.cpp.

Here is the call graph for this function:

◆ getObservations()

void CGenericSensor::getObservations ( TListObservations & lstObjects )

inherited

Returns a list of enqueued objects, emptying it (thread-safe).

The objects must be freed by the invoker.

Definition at line 85 of file CGenericSensor.cpp.

References mrpt::hwdrivers::CGenericSensor::m_csObjList, and mrpt::hwdrivers::CGenericSensor::m_objList.

Referenced by TEST().

Here is the caller graph for this function:

◆ getPosition()

uint64_t CInterfaceFTDI::getPosition ( ) const

overridevirtualinherited

This virtual method does nothing in this class.

Implements mrpt::io::CStream.

Definition at line 67 of file CInterfaceFTDI_common.cpp.

◆ getProcessRate()

double mrpt::hwdrivers::CGenericSensor::getProcessRate ( ) const

inlineinherited

Definition at line 94 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_process_rate.

◆ GetRuntimeClass()

virtual const mrpt::hwdrivers::TSensorClassId* mrpt::hwdrivers::CGenericSensor::GetRuntimeClass ( ) const

pure virtualinherited

◆ getSensorLabel()

std::string mrpt::hwdrivers::CGenericSensor::getSensorLabel ( ) const

inlineinherited

Definition at line 95 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_sensorLabel.

◆ getState()

TSensorState mrpt::hwdrivers::CGenericSensor::getState ( ) const

inlineinherited

The current state of the sensor.

Definition at line 93 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_state.

◆ getTotalBytesCount()

uint64_t CInterfaceFTDI::getTotalBytesCount ( ) const

overridevirtualinherited

This virtual method does nothing in this class.

Implements mrpt::io::CStream.

Definition at line 66 of file CInterfaceFTDI_common.cpp.

◆ initialize()

virtual void mrpt::hwdrivers::CGenericSensor::initialize ( )

inlinevirtualinherited

This method can or cannot be implemented in the derived class, depending on the need for it.

Exceptions

This	method must throw an exception with a descriptive message if some critical error is found.

Definition at line 238 of file CGenericSensor.h.

Referenced by TEST().

Here is the caller graph for this function:

◆ isOpen()

bool CInterfaceFTDI::isOpen ( )

inherited

Checks whether the chip has been successfully open.

See also: OpenBySerialNumber, OpenByDescription

Definition at line 181 of file CInterfaceFTDI_WIN.cpp.

References mrpt::comms::CInterfaceFTDI::m_ftHandle.

Referenced by mrpt::hwdrivers::CServoeNeck::checkConnectionAndConnect(), mrpt::hwdrivers::CServoeNeck::disableServo(), mrpt::hwdrivers::CServoeNeck::enableServo(), mrpt::comms::CInterfaceFTDI::ftdi_open(), mrpt::comms::CInterfaceFTDI::ftdi_openEx(), mrpt::hwdrivers::CServoeNeck::getRegisterValue(), mrpt::hwdrivers::CServoeNeck::setRegisterValue(), and mrpt::hwdrivers::CServoeNeck::setRegisterValueAndSpeed().

Here is the caller graph for this function:

◆ isVerboseEnabled()

bool mrpt::hwdrivers::CGenericSensor::isVerboseEnabled ( ) const

inlineinherited

Definition at line 107 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_verbose.

◆ ListAllDevices()

void CInterfaceFTDI::ListAllDevices ( TFTDIDeviceList & outList )

inherited

Generates a list with all FTDI devices connected right now.

Definition at line 244 of file CInterfaceFTDI_WIN.cpp.

References mrpt::comms::TFTDIDevice::ftdi_description, mrpt::comms::CInterfaceFTDI::ftdi_listDevices(), mrpt::comms::TFTDIDevice::ftdi_serial, MRPT_END, and MRPT_START.

Here is the call graph for this function:

◆ loadConfig()

void CGenericSensor::loadConfig	(	const mrpt::config::CConfigFileBase &	cfg,
		const std::string &	sect
	)

inherited

Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific".

Exceptions

This	method throws an exception with a descriptive message if some critical parameter is missing or has an invalid value.

Definition at line 126 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::config::CConfigFileBase::read_double(), mrpt::config::CConfigFileBase::read_int(), mrpt::config::CConfigFileBase::read_string(), and sect.

Here is the call graph for this function:

◆ loadConfig_sensorSpecific()

void CBoardSonars::loadConfig_sensorSpecific	(	const mrpt::config::CConfigFileBase &	configSource,
		const std::string &	iniSection
	)

overrideprotectedvirtual

Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file, loading from the section "[iniSection]" (see config::CConfigFileBase and derived classes) See hwdrivers::CBoardSonars for the possible parameters.

Implements mrpt::hwdrivers::CGenericSensor.

Definition at line 44 of file CBoardSonars.cpp.

References ASSERT_, mrpt::DEG2RAD(), mrpt::format(), MRPT_END, MRPT_START, mrpt::config::CConfigFileBase::read_float(), mrpt::config::CConfigFileBase::read_int(), mrpt::config::CConfigFileBase::read_string(), and mrpt::config::CConfigFileBase::read_vector().

Here is the call graph for this function:

◆ OpenByDescription()

void CInterfaceFTDI::OpenByDescription ( const std::string & description )

inherited

Open by device description.

Definition at line 439 of file CInterfaceFTDI_WIN.cpp.

References mrpt::containers::circular_buffer< T >::clear(), FT_OPEN_BY_DESCRIPTION, mrpt::comms::CInterfaceFTDI::ftdi_openEx(), mrpt::comms::CInterfaceFTDI::m_readBuffer, MRPT_END, and MRPT_START.

Here is the call graph for this function:

◆ OpenBySerialNumber()

void CInterfaceFTDI::OpenBySerialNumber ( const std::string & serialNumber )

inherited

Open by device serial number.

Definition at line 427 of file CInterfaceFTDI_WIN.cpp.

References mrpt::containers::circular_buffer< T >::clear(), FT_OPEN_BY_SERIAL_NUMBER, mrpt::comms::CInterfaceFTDI::ftdi_openEx(), mrpt::comms::CInterfaceFTDI::m_readBuffer, MRPT_END, and MRPT_START.

Referenced by mrpt::hwdrivers::CServoeNeck::checkConnectionAndConnect().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ printf()

int CStream::printf	(	const char *	fmt,
			...
	)

virtualinherited

Writes a string to the stream in a textual form.

See also: CStdOutStream

Definition at line 30 of file CStream.cpp.

References MRPT_END, MRPT_START, and mrpt::system::os::vsnprintf().

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), mrpt::io::CStream::printf_vector(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), and mrpt::apps::ICP_SLAM_App_Base::run().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ printf_vector()

template<typename CONTAINER_TYPE >

virtual int void mrpt::io::CStream::printf_vector	(	const char *	fmt,
		const CONTAINER_TYPE &	V,
		char	separator = `','`
	)

inlineinherited

Prints a vector in the format [A,B,C,...] using CStream::printf, and the fmt string for each vector element T.

Template Parameters

CONTAINER_TYPE can be any vector<T>, deque<T> or alike.

Definition at line 102 of file io/CStream.h.

References mrpt::io::CStream::printf().

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ programI2CAddress()

bool CBoardSonars::programI2CAddress	(	uint8_t	currentAddress,
		uint8_t	newAddress
	)

Requests a command of "change address" for a given SRF10 device.

currentAddress and newAddress are the I2C addresses in the range 0 to 15 (mapped to 0xE0 to 0xFE internally).

Returns: true on success, false on communications errors or device not found.

Definition at line 269 of file CBoardSonars.cpp.

References mrpt::serialization::archiveFrom(), mrpt::serialization::CMessage::content, and mrpt::serialization::CMessage::type.

Here is the call graph for this function:

◆ Purge()

void CInterfaceFTDI::Purge ( )

inherited

Purge the I/O buffers.

Definition at line 339 of file CInterfaceFTDI_WIN.cpp.

References ASSERT_, mrpt::comms::CInterfaceFTDI::checkErrorAndRaise(), mrpt::containers::circular_buffer< T >::clear(), FT_PURGE_RX, FT_PURGE_TX, mrpt::comms::CInterfaceFTDI::m_ftHandle, mrpt::comms::CInterfaceFTDI::m_pPurge, mrpt::comms::CInterfaceFTDI::m_readBuffer, MRPT_END, and MRPT_START.

Referenced by mrpt::hwdrivers::CServoeNeck::checkConnectionAndConnect().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ queryFirmwareVersion()

bool CBoardSonars::queryFirmwareVersion ( std::string & out_firmwareVersion )

Query the firmware version on the device (can be used to test communications).

Returns: true on success, false on communications errors or device not found.

Definition at line 102 of file CBoardSonars.cpp.

References mrpt::serialization::archiveFrom(), mrpt::serialization::CMessage::getContentAsString(), and mrpt::serialization::CMessage::type.

Here is the call graph for this function:

◆ Read()

size_t CInterfaceFTDI::Read	(	void *	Buffer,
		size_t	Count
	)

overridevirtualinherited

Introduces a pure virtual method responsible for reading from the stream.

It integrates a cache buffer to speed-up sequences of many, small readings.

Implements mrpt::io::CStream.

Definition at line 18 of file CInterfaceFTDI_common.cpp.

References mrpt::containers::circular_buffer< T >::available(), mrpt::comms::CInterfaceFTDI::ftdi_read(), mrpt::comms::CInterfaceFTDI::m_readBuffer, mrpt::containers::circular_buffer< T >::pop_many(), mrpt::containers::circular_buffer< T >::push_many(), and mrpt::containers::circular_buffer< T >::size().

Referenced by mrpt::comms::CInterfaceFTDI::ReadSync().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ ReadBufferImmediate()

size_t CInterfaceFTDI::ReadBufferImmediate	(	void *	Buffer,
		size_t	Count
	)

overridevirtualinherited

Reads a block of bytes from the stream into Buffer, and returns the amound of bytes actually read, without waiting for more extra bytes to arrive (just those already enqued in the stream).

In this class this method actually behaves as expected and does not fallback to ReadBuffer().

Exceptions

std::exception On any error, or if ZERO bytes are read.

Reimplemented from mrpt::io::CStream.

Definition at line 68 of file CInterfaceFTDI_common.cpp.

References mrpt::comms::CInterfaceFTDI::ftdi_read().

Here is the call graph for this function:

◆ ReadSync()

size_t mrpt::comms::CInterfaceFTDI::ReadSync	(	void *	Buffer,
		size_t	Count
	)

inlineinherited

Tries to read, raising no exception if not all the bytes are available, but raising one if there is some communication error.

Definition at line 129 of file CInterfaceFTDI.h.

References mrpt::comms::CInterfaceFTDI::Read().

Here is the call graph for this function:

◆ registerClass()

void CGenericSensor::registerClass ( const TSensorClassId * pNewClass )

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 115 of file CGenericSensor.cpp.

References mrpt::hwdrivers::TSensorClassId::className, and mrpt::hwdrivers::CGenericSensor::get_registered_sensor_classes().

Here is the call graph for this function:

◆ ResetDevice()

void CInterfaceFTDI::ResetDevice ( )

inherited

Reset the USB device.

Definition at line 327 of file CInterfaceFTDI_WIN.cpp.

References ASSERT_, mrpt::comms::CInterfaceFTDI::checkErrorAndRaise(), mrpt::containers::circular_buffer< T >::clear(), mrpt::comms::CInterfaceFTDI::m_ftHandle, mrpt::comms::CInterfaceFTDI::m_pResetDevice, mrpt::comms::CInterfaceFTDI::m_readBuffer, MRPT_END, and MRPT_START.

Here is the call graph for this function:

◆ Seek() [1/2]

virtual uint64_t mrpt::io::CStream::Seek	(	int64_t	Offset,
		CStream::TSeekOrigin	Origin = `sFromBeginning`
	)

pure virtualinherited

Introduces a pure virtual method for moving to a specified position in the streamed resource.

he Origin parameter indicates how to interpret the Offset parameter. Origin should be one of the following values:

sFromBeginning (Default) Offset is from the beginning of the resource. Seek moves to the position Offset. Offset must be >= 0.
sFromCurrent Offset is from the current position in the resource. Seek moves to Position + Offset.
sFromEnd Offset is from the end of the resource. Offset must be <= 0 to indicate a number of bytes before the end of the file.
Returns
Seek returns the new value of the Position property.

Implemented in mrpt::io::CPipeBaseEndPoint, mrpt::io::CFileStream, mrpt::io::CFileGZInputStream, mrpt::io::CFileGZOutputStream, mrpt::io::CMemoryStream, mrpt::io::CFileOutputStream, and mrpt::io::CFileInputStream.

◆ Seek() [2/2]

uint64_t CInterfaceFTDI::Seek	(	int64_t	Offset,
		CStream::TSeekOrigin	Origin = `sFromBeginning`
	)

overrideinherited

This virtual method does nothing in this class.

Definition at line 61 of file CInterfaceFTDI_common.cpp.

◆ sendConfigCommands()

bool CBoardSonars::sendConfigCommands ( )

protected

Sends the configuration (max range, gain,...) to the USB board.

Used internally after a successfull connection.

Returns: true on success, false on communications errors or device not found.

Definition at line 133 of file CBoardSonars.cpp.

References mrpt::serialization::archiveFrom(), mrpt::serialization::CMessage::content, and mrpt::serialization::CMessage::type.

Here is the call graph for this function:

◆ setExternalImageFormat()

void mrpt::hwdrivers::CGenericSensor::setExternalImageFormat ( const std::string & ext )

inlineinherited

Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg".

See also: setPathForExternalImages, setExternalImageJPEGQuality

Definition at line 268 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_external_images_format.

◆ setExternalImageJPEGQuality()

void mrpt::hwdrivers::CGenericSensor::setExternalImageJPEGQuality ( const unsigned int quality )

inlineinherited

The quality of JPEG compression, when external images is enabled and the format is "jpg".

See also: setExternalImageFormat

Definition at line 275 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality.

◆ SetLatencyTimer()

void CInterfaceFTDI::SetLatencyTimer ( unsigned char latency_ms )

inherited

Change the latency timer (in milliseconds) implemented on the FTDI chip: for a few ms, data is not sent to the PC waiting for possible more data, to save USB trafic.

Definition at line 373 of file CInterfaceFTDI_WIN.cpp.

References ASSERT_, mrpt::comms::CInterfaceFTDI::checkErrorAndRaise(), mrpt::comms::CInterfaceFTDI::m_ftHandle, mrpt::comms::CInterfaceFTDI::m_pSetLatencyTimer, MRPT_END, and MRPT_START.

Referenced by mrpt::hwdrivers::CServoeNeck::checkConnectionAndConnect().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ setPathForExternalImages()

virtual void mrpt::hwdrivers::CGenericSensor::setPathForExternalImages ( [ [maybe_unused] ] const std::string & directory )

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.

Exceptions

std::exception If the directory doesn't exists and cannot be created.

Definition at line 257 of file CGenericSensor.h.

◆ setSensorLabel()

void mrpt::hwdrivers::CGenericSensor::setSensorLabel ( const std::string & sensorLabel )

inlineinherited

Definition at line 96 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_sensorLabel.

◆ SetTimeouts()

void CInterfaceFTDI::SetTimeouts	(	unsigned long	dwReadTimeout_ms,
		unsigned long	dwWriteTimeout_ms
	)

inherited

Change read & write timeouts, in milliseconds.

Definition at line 351 of file CInterfaceFTDI_WIN.cpp.

References ASSERT_, mrpt::comms::CInterfaceFTDI::checkErrorAndRaise(), mrpt::comms::CInterfaceFTDI::m_ftHandle, mrpt::comms::CInterfaceFTDI::m_pSetTimeouts, MRPT_END, and MRPT_START.

Referenced by mrpt::hwdrivers::CServoeNeck::checkConnectionAndConnect().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ Write()

size_t CInterfaceFTDI::Write	(	const void *	Buffer,
		size_t	Count
	)

overridevirtualinherited

Introduces a pure virtual method responsible for writing to the stream.

Write attempts to write up to Count bytes to Buffer, and returns the number of bytes actually written.

Implements mrpt::io::CStream.

Definition at line 54 of file CInterfaceFTDI_common.cpp.

References mrpt::comms::CInterfaceFTDI::ftdi_write().

Referenced by mrpt::comms::CInterfaceFTDI::WriteSync().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ WriteSync()

size_t mrpt::comms::CInterfaceFTDI::WriteSync	(	const void *	Buffer,
		size_t	Count
	)

inlineinherited

Tries to write, raising no exception if not all the bytes are available, but raising one if there is some communication error.

Definition at line 133 of file CInterfaceFTDI.h.

References mrpt::comms::CInterfaceFTDI::Write().

Here is the call graph for this function:

Member Data Documentation

◆ m_external_images_format

std::string mrpt::hwdrivers::CGenericSensor::m_external_images_format

protectedinherited

The extension ("jpg","gif","png",...) that determines the format of images saved externally.

See also: setPathForExternalImages

Definition at line 158 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific(), and mrpt::hwdrivers::CGenericSensor::setExternalImageFormat().

◆ m_external_images_jpeg_quality

unsigned int mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality {95}

protectedinherited

For JPEG images, the quality (default=95%).

Definition at line 160 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::getExternalImageJPEGQuality(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific(), and mrpt::hwdrivers::CGenericSensor::setExternalImageJPEGQuality().

◆ m_firingOrder

std::vector<int32_t> mrpt::hwdrivers::CBoardSonars::m_firingOrder

protected

The order in which sonars will be fired, indexed by their I2C addresses [0,15].

Up to 16 devices, but you can put any number of devices (from 1 to 16).

Definition at line 107 of file CBoardSonars.h.

◆ m_gain

uint8_t mrpt::hwdrivers::CBoardSonars::m_gain

protected

A value between 0 and 16, for gains between 40 and 700 (not linear).

Definition at line 96 of file CBoardSonars.h.

◆ m_grab_decimation

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation {0}

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().

◆ m_grab_decimation_counter

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter {0}

protectedinherited

Used when "m_grab_decimation" is enabled.

Definition at line 146 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::appendObservations(), and mrpt::hwdrivers::CGenericSensor::loadConfig().

◆ m_max_queue_len

size_t mrpt::hwdrivers::CGenericSensor::m_max_queue_len {200}

protectedinherited

See CGenericSensor.

Definition at line 136 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::loadConfig().

◆ m_maxRange

float mrpt::hwdrivers::CBoardSonars::m_maxRange

protected

The maximum range in meters, used for the internal device timer (value between 4cm and 11m).

Definition at line 101 of file CBoardSonars.h.

◆ m_minTimeBetweenPings

float mrpt::hwdrivers::CBoardSonars::m_minTimeBetweenPings

protected

The minimum time between sonar pings (in seconds).

Definition at line 122 of file CBoardSonars.h.

◆ m_path_for_external_images

std::string mrpt::hwdrivers::CGenericSensor::m_path_for_external_images

protectedinherited

The path where to save off-rawlog images: empty means save images embedded in the rawlog.

Definition at line 155 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), and mrpt::hwdrivers::CSwissRanger3DCamera::setPathForExternalImages().

◆ m_process_rate

double mrpt::hwdrivers::CGenericSensor::m_process_rate {0}

protectedinherited

See CGenericSensor.

Definition at line 134 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::getProcessRate(), mrpt::hwdrivers::CGyroKVHDSP3000::initialize(), and mrpt::hwdrivers::CGenericSensor::loadConfig().

◆ m_readBuffer

mrpt::containers::circular_buffer<uint8_t> mrpt::comms::CInterfaceFTDI::m_readBuffer

protectedinherited

Used in Read.

Definition at line 175 of file CInterfaceFTDI.h.

Referenced by mrpt::comms::CInterfaceFTDI::Close(), mrpt::comms::CInterfaceFTDI::OpenByDescription(), mrpt::comms::CInterfaceFTDI::OpenBySerialNumber(), mrpt::comms::CInterfaceFTDI::Purge(), mrpt::comms::CInterfaceFTDI::Read(), and mrpt::comms::CInterfaceFTDI::ResetDevice().

◆ m_sensorLabel

std::string mrpt::hwdrivers::CGenericSensor::m_sensorLabel

protectedinherited

See CGenericSensor.

Definition at line 141 of file CGenericSensor.h.

◆ m_sonarGains

std::map<uint16_t, int32_t> mrpt::hwdrivers::CBoardSonars::m_sonarGains

protected

The individual gains of the sonars, indexed by their I2C addresses [0,15].

Up to 16 devices, but you can put any number of devices (from 1 to 16).

Definition at line 113 of file CBoardSonars.h.

◆ m_sonarPoses

std::map<uint16_t, mrpt::math::TPose3D> mrpt::hwdrivers::CBoardSonars::m_sonarPoses

protected

The poses of the sonars: x[m] y[m] z[m] yaw[deg] pitch[deg] roll[deg] Up to 16 devices, but you can put any number of devices (from 1 to 16).

Definition at line 118 of file CBoardSonars.h.

◆ m_state

TSensorState mrpt::hwdrivers::CGenericSensor::m_state {ssInitializing}

protectedinherited

Definition at line 148 of file CGenericSensor.h.

◆ m_usbSerialNumber

std::string mrpt::hwdrivers::CBoardSonars::m_usbSerialNumber

protected

A copy of the device serial number (to open the USB FTDI chip)

Definition at line 92 of file CBoardSonars.h.

◆ m_verbose

bool mrpt::hwdrivers::CGenericSensor::m_verbose {false}

protectedinherited

Definition at line 149 of file CGenericSensor.h.

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Member Typedef Documentation

◆ Ptr

◆ TListObservations

◆ TListObsPair

Member Enumeration Documentation

◆ TSeekOrigin

◆ TSensorState

Constructor & Destructor Documentation

◆ CBoardSonars()

◆ ~CBoardSonars()

Member Function Documentation

◆ appendObservation()

◆ appendObservations()

◆ checkConnectionAndConnect()

◆ Close()

◆ createSensor()

◆ createSensorPtr()

◆ doProcess()

◆ enableVerbose()

◆ ftdi_read()

◆ ftdi_write()

◆ getExternalImageJPEGQuality()

◆ getline()

◆ getObservation()

◆ getObservations()

◆ getPosition()

◆ getProcessRate()

◆ GetRuntimeClass()

◆ getSensorLabel()

◆ getState()

◆ getTotalBytesCount()

◆ initialize()

◆ isOpen()

◆ isVerboseEnabled()

◆ ListAllDevices()

◆ loadConfig()

◆ loadConfig_sensorSpecific()

◆ OpenByDescription()

◆ OpenBySerialNumber()

◆ printf()

◆ printf_vector()

◆ programI2CAddress()

◆ Purge()

◆ queryFirmwareVersion()

◆ Read()

◆ ReadBufferImmediate()

◆ ReadSync()

◆ registerClass()

◆ ResetDevice()

◆ Seek() [1/2]

◆ Seek() [2/2]

◆ sendConfigCommands()

◆ setExternalImageFormat()

◆ setExternalImageJPEGQuality()

◆ SetLatencyTimer()

◆ setPathForExternalImages()

◆ setSensorLabel()

◆ SetTimeouts()

◆ Write()

◆ WriteSync()

Member Data Documentation

◆ m_external_images_format

◆ m_external_images_jpeg_quality

◆ m_firingOrder

◆ m_gain

◆ m_grab_decimation

◆ m_grab_decimation_counter

◆ m_max_queue_len

◆ m_maxRange

◆ m_minTimeBetweenPings

◆ m_path_for_external_images

◆ m_process_rate

◆ m_readBuffer

◆ m_sensorLabel