Main MRPT website > C++ reference for MRPT 1.9.9
List of all members | Public Types | Public Member Functions | Static Public Member Functions | Protected Member Functions | Protected Attributes
mrpt::hwdrivers::CBoardSonars Class Referenceabstract

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 56 of file CBoardSonars.h.

#include <mrpt/hwdrivers/CBoardSonars.h>

Inheritance diagram for mrpt::hwdrivers::CBoardSonars:
Inheritance graph

Public Types

enum  TSeekOrigin { sFromBeginning = 0, sFromCurrent = 1, sFromEnd = 2 }
 Used in CStream::Seek. More...
 
enum  TSensorState { ssInitializing = 0, ssWorking, ssError }
 The current state of the sensor. More...
 
using Ptr = std::shared_ptr< CGenericSensor >
 
typedef std::multimap< mrpt::system::TTimeStamp, mrpt::utils::CSerializable::PtrTListObservations
 
typedef std::pair< mrpt::system::TTimeStamp, mrpt::utils::CSerializable::PtrTListObsPair
 

Public Member Functions

 CBoardSonars ()
 Constructor. More...
 
virtual ~CBoardSonars ()
 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 ()
 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...
 
virtual size_t ReadBufferImmediate (void *Buffer, size_t Count)
 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...
 
virtual uint64_t Seek (uint64_t Offset, CStream::TSeekOrigin Origin=sFromBeginning)=0
 Introduces a pure virtual method for moving to a specified position in the streamed resource. More...
 
size_t ReadBuffer (void *Buffer, size_t Count)
 Reads a block of bytes from the stream into Buffer. More...
 
template<typename T >
size_t ReadBufferFixEndianness (T *ptr, size_t ElementCount)
 Reads a sequence of elemental datatypes, taking care of reordering their bytes from the MRPT stream standard (little endianness) to the format of the running architecture. More...
 
void WriteBuffer (const void *Buffer, size_t Count)
 Writes a block of bytes to the stream from Buffer. More...
 
template<typename T >
void WriteBufferFixEndianness (const T *ptr, size_t ElementCount)
 Writes a sequence of elemental datatypes, taking care of reordering their bytes from the running architecture to MRPT stream standard (little endianness). More...
 
void WriteObject (const CSerializable *o)
 Writes an object to the stream. More...
 
void WriteObject (const CSerializable &o)
 
CSerializable::Ptr ReadObject ()
 Reads an object from stream, its class determined at runtime, and returns a smart pointer to the object. More...
 
template<typename T >
T::Ptr ReadObject ()
 Reads an object from stream, its class determined at runtime, and returns a smart pointer to the object. More...
 
void ReadObject (CSerializable *existingObj)
 Reads an object from stream, where its class must be the same as the supplied object, where the loaded object will be stored in. More...
 
template<typename... T>
mrpt::utils::variant< T... > ReadVariant ()
 Reads a variant from stream, its class determined at runtime, and returns a variant to the object. More...
 
template<typename T >
void WriteVariant (T t)
 Writes a Variant to the stream. More...
 
template<typename T >
ReadPOD ()
 Reads a simple POD type and returns by value. More...
 
CStreamoperator<< (const CSerializable::Ptr &pObj)
 Write an object to a stream in the binary MRPT format. More...
 
CStreamoperator<< (const CSerializable &obj)
 Write an object to a stream in the binary MRPT format. More...
 
CStreamoperator>> (CSerializable::Ptr &pObj)
 
CStreamoperator>> (CSerializable &obj)
 
template<typename STORED_TYPE , typename CAST_TO_TYPE >
void ReadAsAndCastTo (CAST_TO_TYPE &read_here)
 Read a value from a stream stored in a type different of the target variable, making the conversion via static_cast. 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...
 
void sendMessage (const utils::CMessage &msg)
 Send a message to the device. More...
 
bool receiveMessage (utils::CMessage &msg)
 Tries to receive a message from the device. More...
 
bool getline (std::string &out_str)
 Reads from the stream until a '
' character is found ('' characters are ignored). More...
 
virtual const mrpt::hwdrivers::TSensorClassIdGetRuntimeClass () 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 &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 (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 CGenericSensorcreateSensor (const std::string &className)
 Creates a sensor by a name of the class. More...
 
static CGenericSensor::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::utils::CConfigFileBase &configSource, const std::string &iniSection)
 Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file, loading from the section "[iniSection]" (see utils::CConfigFileBase and derived classes) See hwdrivers::CBoardSonars for the possible parameters. More...
 
size_t Read (void *Buffer, size_t Count)
 Introduces a pure virtual method responsible for reading from the stream. More...
 
size_t Write (const void *Buffer, size_t Count)
 Introduces a pure virtual method responsible for writing to the stream. More...
 
uint64_t Seek (uint64_t Offset, CStream::TSeekOrigin Origin=sFromBeginning)
 This virtual method does nothing in this class. More...
 
uint64_t getTotalBytesCount ()
 This virtual method does nothing in this class. More...
 
uint64_t getPosition ()
 This virtual method does nothing in this class. 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 recursive_fill_list_devices (void *usb_device_structure, TFTDIDeviceList &outList)
 Process recursively a USB device and its children: More...
 
void internal_ReadObject (CSerializable *newObj, const std::string &className, bool isOldFormat, int8_t version)
 Read the object. More...
 
void internal_ReadObjectHeader (std::string &className, bool &isOldFormat, int8_t &version)
 Read the object Header. More...
 
void appendObservations (const std::vector< mrpt::utils::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::utils::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_tm_firingOrder
 The order in which sonars will be fired, indexed by their I2C addresses [0,15]. More...
 
std::map< uint16_t, int32_tm_sonarGains
 The individual gains of the sonars, indexed by their I2C addresses [0,15]. More...
 
std::map< uint16_t, mrpt::math::TPose3Dm_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::utils::circular_buffer< uint8_tm_readBuffer
 Used in Read. More...
 
voidm_ftdi_context
 
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...
 

Member Typedef Documentation

◆ Ptr

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

Definition at line 73 of file CGenericSensor.h.

◆ TListObservations

Definition at line 78 of file CGenericSensor.h.

◆ TListObsPair

Definition at line 80 of file CGenericSensor.h.

Member Enumeration Documentation

◆ TSeekOrigin

Used in CStream::Seek.

Enumerator
sFromBeginning 
sFromCurrent 
sFromEnd 

Definition at line 45 of file CStream.h.

◆ TSensorState

The current state of the sensor.

See also
CGenericSensor::getState
Enumerator
ssInitializing 
ssWorking 
ssError 

Definition at line 85 of file CGenericSensor.h.

Constructor & Destructor Documentation

◆ CBoardSonars()

CBoardSonars::CBoardSonars ( )

Constructor.

Definition at line 29 of file CBoardSonars.cpp.

References MRPT_END, and MRPT_START.

◆ ~CBoardSonars()

virtual mrpt::hwdrivers::CBoardSonars::~CBoardSonars ( )
inlinevirtual

Destructor.

Definition at line 67 of file CBoardSonars.h.

Member Function Documentation

◆ appendObservation()

void mrpt::hwdrivers::CGenericSensor::appendObservation ( const mrpt::utils::CSerializable::Ptr obj)
inlineprotectedinherited

◆ appendObservations()

void CGenericSensor::appendObservations ( const std::vector< mrpt::utils::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

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::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 295 of file CBoardSonars.cpp.

◆ Close()

void mrpt::comms::CInterfaceFTDI::Close ( )
inherited

◆ 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:

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

Definition at line 103 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 CGenericSensor::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 220 of file CGenericSensor.h.

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

Here is the call graph for this function:

◆ doProcess()

void CBoardSonars::doProcess ( )
virtual

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

Exceptions
Thismethod must throw an exception with a descriptive message if some critical error is found.

Implements mrpt::hwdrivers::CGenericSensor.

Definition at line 321 of file CBoardSonars.cpp.

References 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 mrpt::comms::CInterfaceFTDI::ftdi_read ( void lpvBuffer,
unsigned long  dwBuffSize,
unsigned long *  lpdwBytesRead 
)
protectedinherited

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

Here is the caller graph for this function:

◆ ftdi_write()

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

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

Here is the caller graph for this function:

◆ getExternalImageJPEGQuality()

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

◆ 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 780 of file CStream.cpp.

◆ getObservation()

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

◆ 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 91 of file CGenericSensor.cpp.

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

◆ getPosition()

uint64_t CInterfaceFTDI::getPosition ( )
protectedvirtualinherited

This virtual method does nothing in this class.

Implements mrpt::utils::CStream.

Definition at line 84 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 ( )
protectedvirtualinherited

This virtual method does nothing in this class.

Implements mrpt::utils::CStream.

Definition at line 80 of file CInterfaceFTDI_common.cpp.

◆ initialize()

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

◆ internal_ReadObject()

void CStream::internal_ReadObject ( CSerializable newObj,
const std::string className,
bool  isOldFormat,
int8_t  version 
)
protectedinherited

Read the object.

Definition at line 523 of file CStream.cpp.

References SERIALIZATION_END_FLAG, THROW_EXCEPTION, THROW_EXCEPTION_FMT, and THROW_TYPED_EXCEPTION.

Referenced by mrpt::utils::CStream::ReadObject(), and mrpt::utils::CStream::ReadVariant().

Here is the caller graph for this function:

◆ internal_ReadObjectHeader()

void CStream::internal_ReadObjectHeader ( std::string className,
bool &  isOldFormat,
int8_t version 
)
protectedinherited

Read the object Header.

Definition at line 420 of file CStream.cpp.

References ASSERT_, THROW_EXCEPTION, THROW_STACKED_EXCEPTION_CUSTOM_MSG2, and THROW_TYPED_EXCEPTION.

Referenced by mrpt::utils::CStream::ReadObject(), and mrpt::utils::CStream::ReadVariant().

Here is the caller graph for this function:

◆ isOpen()

bool mrpt::comms::CInterfaceFTDI::isOpen ( )
inherited

◆ isVerboseEnabled()

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

Definition at line 107 of file CGenericSensor.h.

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

◆ ListAllDevices()

void mrpt::comms::CInterfaceFTDI::ListAllDevices ( TFTDIDeviceList outList)
inherited

Generates a list with all FTDI devices connected right now.

◆ loadConfig()

void CGenericSensor::loadConfig ( const mrpt::utils::CConfigFileBase cfg,
const std::string sect 
)
inherited

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

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

Definition at line 132 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().

Here is the call graph for this function:

◆ loadConfig_sensorSpecific()

void CBoardSonars::loadConfig_sensorSpecific ( const mrpt::utils::CConfigFileBase configSource,
const std::string iniSection 
)
protectedvirtual

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

Implements mrpt::hwdrivers::CGenericSensor.

Definition at line 45 of file CBoardSonars.cpp.

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

Here is the call graph for this function:

◆ OpenByDescription()

void mrpt::comms::CInterfaceFTDI::OpenByDescription ( const std::string description)
inherited

Open by device description.

◆ OpenBySerialNumber()

void mrpt::comms::CInterfaceFTDI::OpenBySerialNumber ( const std::string serialNumber)
inherited

Open by device serial number.

Referenced by mrpt::hwdrivers::CServoeNeck::checkConnectionAndConnect(), and mrpt::hwdrivers::CSickLaserUSB::checkControllerIsConnected().

Here is the caller graph for this function:

◆ operator<<() [1/2]

CStream & CStream::operator<< ( const CSerializable::Ptr pObj)
inherited

Write an object to a stream in the binary MRPT format.

Definition at line 201 of file CStream.cpp.

◆ operator<<() [2/2]

CStream & CStream::operator<< ( const CSerializable obj)
inherited

Write an object to a stream in the binary MRPT format.

Definition at line 208 of file CStream.cpp.

◆ operator>>() [1/2]

CStream & CStream::operator>> ( CSerializable::Ptr pObj)
inherited

Definition at line 214 of file CStream.cpp.

◆ operator>>() [2/2]

CStream & CStream::operator>> ( CSerializable obj)
inherited

Definition at line 220 of file CStream.cpp.

◆ printf()

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

Writes a string to the stream in a textual form.

See also
CStdOutStream

Definition at line 597 of file CStream.cpp.

References MRPT_END, MRPT_START, and vsnprintf.

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), mrpt::utils::TMatchingPairList::dumpToFile(), mrpt::obs::gnss::Message_NMEA_GGA::dumpToStream(), mrpt::obs::gnss::Message_TOPCON_PZS::dumpToStream(), mrpt::obs::gnss::Message_TOPCON_SATS::dumpToStream(), mrpt::obs::gnss::Message_NMEA_GLL::dumpToStream(), mrpt::obs::gnss::Message_NMEA_RMC::dumpToStream(), mrpt::obs::gnss::Message_NV_OEM6_GENERIC_FRAME::dumpToStream(), mrpt::obs::CObservationGPS::dumpToStream(), mrpt::obs::gnss::Message_NMEA_VTG::dumpToStream(), mrpt::obs::gnss::Message_NV_OEM6_GENERIC_SHORT_FRAME::dumpToStream(), mrpt::obs::gnss::Message_NMEA_ZDA::dumpToStream(), mrpt::obs::gnss::Message_NV_OEM6_RANGECMP::dumpToStream(), mrpt::obs::gnss::Message_NV_OEM6_VERSION::dumpToStream(), mrpt::slam::TKLDParams::dumpToTextStream(), mrpt::slam::CMetricMapBuilderICP::TConfigParams::dumpToTextStream(), mrpt::maps::TMetricMapInitializer::dumpToTextStream(), mrpt::slam::CIncrementalMapPartitioner::TOptions::dumpToTextStream(), mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::dumpToTextStream(), mrpt::maps::CWirelessPowerGridMap2D::TInsertionOptions::dumpToTextStream(), mrpt::maps::CHeightGridMap2D_MRF::TInsertionOptions::dumpToTextStream(), mrpt::hmtslam::CTopLCDetector_FabMap::TOptions::dumpToTextStream(), mrpt::hmtslam::CTopLCDetector_GridMatching::TOptions::dumpToTextStream(), mrpt::graphslam::TUncertaintyPath< GRAPH_T >::dumpToTextStream(), mrpt::maps::CReflectivityGridMap2D::TInsertionOptions::dumpToTextStream(), mrpt::slam::CICP::TConfigParams::dumpToTextStream(), mrpt::slam::CGridMapAligner::TConfigParams::dumpToTextStream(), mrpt::graphslam::TSlidingWindow::dumpToTextStream(), mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::dumpToTextStream(), mrpt::bayes::TKF_options::dumpToTextStream(), mrpt::utils::CLoadableOptions::dumpToTextStream(), mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >::TParams::dumpToTextStream(), mrpt::vision::CFeatureExtraction::TOptions::dumpToTextStream(), mrpt::maps::CHeightGridMap2D::TInsertionOptions::dumpToTextStream(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::dumpToTextStream(), mrpt::slam::CRangeBearingKFSLAM2D::TOptions::dumpToTextStream(), mrpt::maps::CBeaconMap::TLikelihoodOptions::dumpToTextStream(), mrpt::maps::CMultiMetricMapPDF::TPredictionParams::dumpToTextStream(), mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::TParams::dumpToTextStream(), mrpt::maps::CRandomFieldGridMap3D::TInsertionOptions::dumpToTextStream(), mrpt::maps::CBeaconMap::TInsertionOptions::dumpToTextStream(), mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams::dumpToTextStream(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::TParams::dumpToTextStream(), mrpt::slam::CRangeBearingKFSLAM::TOptions::dumpToTextStream(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::dumpToTextStream(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::TParams::dumpToTextStream(), mrpt::maps::CPointsMap::TInsertionOptions::dumpToTextStream(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::GraphVisualizationParams::dumpToTextStream(), mrpt::maps::CLandmarksMap::TInsertionOptions::dumpToTextStream(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TLikelihoodOptions::dumpToTextStream(), mrpt::vision::TStereoSystemParams::dumpToTextStream(), mrpt::maps::CColouredPointsMap::TColourOptions::dumpToTextStream(), mrpt::maps::CPointsMap::TLikelihoodOptions::dumpToTextStream(), mrpt::vision::CFeature::dumpToTextStream(), mrpt::maps::TSetOfMetricMapInitializers::dumpToTextStream(), mrpt::maps::CLandmarksMap::TLikelihoodOptions::dumpToTextStream(), mrpt::hmtslam::CHMTSLAM::TOptions::dumpToTextStream(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::dumpToTextStream(), mrpt::vision::TMatchingOptions::dumpToTextStream(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::dumpToTextStream(), mrpt::maps::COccupancyGridMap2D::TInsertionOptions::dumpToTextStream(), mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::dumpToTextStream(), mrpt::vision::TMultiResDescMatchOptions::dumpToTextStream(), mrpt::vision::TMultiResDescOptions::dumpToTextStream(), mrpt::maps::CWirelessPowerGridMap2D::TMapDefinition::dumpToTextStream_map_specific(), mrpt::maps::CHeightGridMap2D_MRF::TMapDefinition::dumpToTextStream_map_specific(), mrpt::maps::CHeightGridMap2D::TMapDefinition::dumpToTextStream_map_specific(), mrpt::maps::CGasConcentrationGridMap2D::TMapDefinition::dumpToTextStream_map_specific(), mrpt::maps::CLandmarksMap::TMapDefinition::dumpToTextStream_map_specific(), mrpt::utils::CLoadableOptions::dumpVar_bool(), mrpt::utils::CLoadableOptions::dumpVar_double(), mrpt::utils::CLoadableOptions::dumpVar_float(), mrpt::utils::CLoadableOptions::dumpVar_int(), mrpt::utils::CLoadableOptions::dumpVar_string(), generic_dump_BESTPOS(), generic_dump_MARKTIME(), mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::internal_dumpToTextStream_common(), mrpt::slam::CRangeBearingKFSLAM2D::OnGetObservationsAndDataAssociation(), mrpt::utils::CStream::printf_vector(), mrpt::maps::CRandomFieldGridMap3D::saveAsCSV(), mrpt::poses::CPoseInterpolatorBase< 3 >::saveInterpolatedToTextFile(), mrpt::utils::CTimeLogger::saveToCSVFile(), and mrpt::poses::CPoseInterpolatorBase< 3 >::saveToTextFile().

◆ printf_vector()

template<typename CONTAINER_TYPE >
virtual int void mrpt::utils::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_TYPEcan be any vector<T>, deque<T> or alike.

Definition at line 370 of file CStream.h.

References mrpt::utils::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 266 of file CBoardSonars.cpp.

References mrpt::utils::CMessage::content, and mrpt::utils::CMessage::type.

◆ Purge()

void mrpt::comms::CInterfaceFTDI::Purge ( )
inherited

Purge the I/O buffers.

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

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 103 of file CBoardSonars.cpp.

References mrpt::utils::CMessage::getContentAsString(), and mrpt::utils::CMessage::type.

Here is the call graph for this function:

◆ Read()

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

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::utils::CStream.

Definition at line 21 of file CInterfaceFTDI_common.cpp.

References mrpt::utils::circular_buffer< T >::available(), mrpt::comms::CInterfaceFTDI::ftdi_read(), mrpt::comms::CInterfaceFTDI::m_readBuffer, min, mrpt::utils::circular_buffer< T >::pop_many(), mrpt::utils::circular_buffer< T >::push_many(), and mrpt::utils::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:

◆ ReadAsAndCastTo()

template<typename STORED_TYPE , typename CAST_TO_TYPE >
void mrpt::utils::CStream::ReadAsAndCastTo ( CAST_TO_TYPE &  read_here)
inlineinherited

Read a value from a stream stored in a type different of the target variable, making the conversion via static_cast.

Useful for coding backwards compatible de-serialization blocks

Definition at line 353 of file CStream.h.

◆ ReadBuffer()

size_t CStream::ReadBuffer ( void Buffer,
size_t  Count 
)
inherited

Reads a block of bytes from the stream into Buffer.

Exceptions
std::exceptionOn any error, or if ZERO bytes are read.
Returns
The amound of bytes actually read.
Note
This method is endianness-dependent.
See also
ReadBufferImmediate ; Important, see: ReadBufferFixEndianness,

Definition at line 40 of file CStream.cpp.

References ASSERT_, and THROW_EXCEPTION.

Referenced by mrpt::hwdrivers::CHokuyoURG::assureBufferHasBytes(), mrpt::compress::zip::compress_gz_data_block(), mrpt::compress::zip::decompress(), mrpt::compress::zip::decompress_gz_file(), mrpt::hwdrivers::CGPSInterface::doProcess(), fill_input_buffer(), mrpt::system::loadBinaryFile(), mrpt::utils::CMemoryStream::loadBufferFromFile(), mrpt::hwdrivers::CHokuyoURG::purgeBuffers(), mrpt::utils::CStream::ReadBufferFixEndianness(), and mrpt::utils::CStream::ReadBufferImmediate().

Here is the caller graph for this function:

◆ ReadBufferFixEndianness()

template<typename T >
size_t mrpt::utils::CStream::ReadBufferFixEndianness ( T *  ptr,
size_t  ElementCount 
)
inlineinherited

Reads a sequence of elemental datatypes, taking care of reordering their bytes from the MRPT stream standard (little endianness) to the format of the running architecture.

Parameters
ElementCountThe number of elements (not bytes) to read.
ptrA pointer to the first output element in an array (or std::vector<>, etc...).
Returns
The amound of bytes (not elements) actually read (under error situations, the last element may be invalid if the data stream abruptly ends). Example of usage:
s >> N;
vector<float> vec(N);
if (N)
s.ReadBufferFixEndianness<float>(&vec[0],N);
Exceptions
std::exceptionOn any error, or if ZERO bytes are read.
See also
ReadBufferFixEndianness, ReadBuffer

Definition at line 108 of file CStream.h.

References mrpt::utils::CStream::ReadBuffer(), and mrpt::mrpt::utils::reverseBytesInPlace().

Referenced by mrpt::math::operator>>(), mrpt::utils::CStream::ReadPOD(), and triangle_readFromStream().

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 
)
virtualinherited

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::exceptionOn any error, or if ZERO bytes are read.

Reimplemented from mrpt::utils::CStream.

Definition at line 88 of file CInterfaceFTDI_common.cpp.

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

Here is the call graph for this function:

◆ ReadObject() [1/3]

CSerializable::Ptr mrpt::utils::CStream::ReadObject ( )
inlineinherited

Reads an object from stream, its class determined at runtime, and returns a smart pointer to the object.

Exceptions
std::exceptionOn I/O error or undefined class.
mrpt::utils::CExceptionEOFOn an End-Of-File condition found at a correct place: an EOF that abruptly finishes in the middle of one object raises a plain std::exception instead.

Definition at line 207 of file CStream.h.

Referenced by mrpt::utils::mrpt_recv_from_zmq(), mrpt::utils::mrpt_recv_from_zmq_into(), mrpt::utils::OctetVectorToObject(), mrpt::utils::operator>>(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), mrpt::utils::RawStringToObject(), mrpt::utils::StringToObject(), and TEST().

Here is the caller graph for this function:

◆ ReadObject() [2/3]

template<typename T >
T::Ptr mrpt::utils::CStream::ReadObject ( )
inlineinherited

Reads an object from stream, its class determined at runtime, and returns a smart pointer to the object.

This version is similar to mrpt::make_aligned_shared<T>.

Exceptions
std::exceptionOn I/O error or undefined class.
mrpt::utils::CExceptionEOFOn an End-Of-File condition found at a correct place: an EOF that abruptly finishes in the middle of one object raises a plain std::exception instead.

Definition at line 217 of file CStream.h.

References mrpt::utils::TRuntimeClassId::createObject(), mrpt::utils::findRegisteredClass(), mrpt::utils::CStream::internal_ReadObject(), and mrpt::utils::CStream::internal_ReadObjectHeader().

Here is the call graph for this function:

◆ ReadObject() [3/3]

void CStream::ReadObject ( CSerializable existingObj)
inherited

Reads an object from stream, where its class must be the same as the supplied object, where the loaded object will be stored in.

Exceptions
std::exceptionOn I/O error or different class found.
mrpt::utils::CExceptionEOFOn an End-Of-File condition found at a correct place: an EOF that abruptly finishes in the middle of one object raises a plain std::exception instead.

Definition at line 566 of file CStream.cpp.

References ASSERT_, mrpt::utils::TRuntimeClassId::className, mrpt::utils::findRegisteredClass(), mrpt::format(), mrpt::utils::CSerializable::GetRuntimeClass(), THROW_EXCEPTION, and THROW_EXCEPTION_FMT.

Here is the call graph for this function:

◆ ReadPOD()

template<typename T >
T mrpt::utils::CStream::ReadPOD ( )
inlineinherited

Reads a simple POD type and returns by value.

Useful when stream >> var; cannot be used becuase of errors of misaligned reference binding. Use with macro MRPT_READ_POD to avoid typing the type T yourself.

Note
[New in MRPT 2.0.0]
Write operator s << var; is safe for misaligned variables.

Definition at line 325 of file CStream.h.

References mrpt::utils::CStream::ReadBufferFixEndianness().

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 131 of file CInterfaceFTDI.h.

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

Referenced by mrpt::hwdrivers::CSickLaserUSB::waitContinuousSampleFrame().

Here is the call graph for this function:
Here is the caller graph for this function:

◆ ReadVariant()

template<typename... T>
mrpt::utils::variant<T...> mrpt::utils::CStream::ReadVariant ( )
inlineinherited

Reads a variant from stream, its class determined at runtime, and returns a variant to the object.

To be compatible with the current polymorphic system this support smart pointer types. For pointer types, This will bind to the first possible pointer type. variant<CSerializable::Ptr, CRenderizable::Ptr>

Exceptions
std::exceptionOn I/O error or undefined class.
mrpt::utils::CExceptionEOFOn an End-Of-File condition found at a correct place: an EOF that abruptly finishes in the middle of one object raises a plain std::exception instead.

Definition at line 282 of file CStream.h.

References mrpt::utils::TRuntimeClassId::createObject(), mrpt::utils::findRegisteredClass(), mrpt::utils::CStream::internal_ReadObject(), mrpt::utils::CStream::internal_ReadObjectHeader(), mrpt::utils::CStream::ReadVariant_helper(), and THROW_EXCEPTION_FMT.

Referenced by mrpt::utils::operator>>().

Here is the call graph for this function:
Here is the caller graph for this function:

◆ receiveMessage()

bool CStream::receiveMessage ( utils::CMessage msg)
inherited

◆ recursive_fill_list_devices()

void mrpt::comms::CInterfaceFTDI::recursive_fill_list_devices ( void usb_device_structure,
TFTDIDeviceList outList 
)
protectedinherited

Process recursively a USB device and its children:

◆ 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 121 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().

Here is the call graph for this function:
Here is the caller graph for this function:

◆ ResetDevice()

void mrpt::comms::CInterfaceFTDI::ResetDevice ( )
inherited

Reset the USB device.

Referenced by mrpt::hwdrivers::CSickLaserUSB::checkControllerIsConnected().

Here is the caller graph for this function:

◆ Seek() [1/2]

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

This virtual method does nothing in this class.

Definition at line 70 of file CInterfaceFTDI_common.cpp.

References MRPT_UNUSED_PARAM.

◆ Seek() [2/2]

virtual uint64_t mrpt::utils::CStream::Seek ( uint64_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::utils::CFileStream, mrpt::utils::CFileGZInputStream, mrpt::utils::CFileOutputStream, mrpt::utils::CMemoryStream, mrpt::utils::CFileInputStream, and mrpt::utils::CStdOutStream.

◆ 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::utils::CMessage::content, and mrpt::utils::CMessage::type.

◆ sendMessage()

void CStream::sendMessage ( const utils::CMessage msg)
inherited

Send a message to the device.

Note that only the low byte from the "type" field will be used.

For frames of size < 255 the frame format is an array of bytes in this order:

<START_FLAG> <HEADER> <LENGTH> <BODY> <END_FLAG>
<START_FLAG> = 0x69
<HEADER> = A header byte
<LENGHT> = Number of bytes of BODY
<BODY> = N x bytes
<END_FLAG> = 0X96
Total length = <LENGTH> + 4

For frames of size > 255 the frame format is an array of bytes in this order:

<START_FLAG> <HEADER> <HIBYTE(LENGTH)> <LOBYTE(LENGTH)> <BODY>
<END_FLAG>
<START_FLAG> = 0x79
<HEADER> = A header byte
<LENGHT> = Number of bytes of BODY
<BODY> = N x bytes
<END_FLAG> = 0X96
Total length = <LENGTH> + 5
Exceptions
std::exceptionOn communication errors

Definition at line 649 of file CStream.cpp.

References mrpt::utils::CMessage::content, mrpt::system::os::memcpy(), MRPT_END, MRPT_START, and mrpt::utils::CMessage::type.

Referenced by mrpt::hwdrivers::CServoeNeck::disableServo(), mrpt::hwdrivers::CServoeNeck::enableServo(), mrpt::hwdrivers::CRoboticHeadInterface::Get3SoundBuffer(), mrpt::hwdrivers::CRoboticHeadInterface::GetGain(), mrpt::hwdrivers::CServoeNeck::getRegisterValue(), mrpt::hwdrivers::CRoboticHeadInterface::GetSoundLocation(), mrpt::hwdrivers::CServoeNeck::queryFirmwareVersion(), mrpt::hwdrivers::CBoardENoses::queryFirmwareVersion(), mrpt::hwdrivers::CRoboticHeadInterface::SetGain(), mrpt::hwdrivers::CServoeNeck::setRegisterValue(), and mrpt::hwdrivers::CServoeNeck::setRegisterValueAndSpeed().

Here is the call graph for this function:
Here is the caller 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 279 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 286 of file CGenericSensor.h.

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

◆ SetLatencyTimer()

void mrpt::comms::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.

Referenced by mrpt::hwdrivers::CServoeNeck::checkConnectionAndConnect(), and mrpt::hwdrivers::CSickLaserUSB::checkControllerIsConnected().

Here is the caller graph for this function:

◆ setPathForExternalImages()

virtual void mrpt::hwdrivers::CGenericSensor::setPathForExternalImages ( 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::exceptionIf 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 268 of file CGenericSensor.h.

References MRPT_UNUSED_PARAM.

◆ 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 mrpt::comms::CInterfaceFTDI::SetTimeouts ( unsigned long  dwReadTimeout_ms,
unsigned long  dwWriteTimeout_ms 
)
inherited

Change read & write timeouts, in milliseconds.

Referenced by mrpt::hwdrivers::CServoeNeck::checkConnectionAndConnect(), and mrpt::hwdrivers::CSickLaserUSB::checkControllerIsConnected().

Here is the caller graph for this function:

◆ Write()

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

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::utils::CStream.

Definition at line 60 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:

◆ WriteBuffer()

void CStream::WriteBuffer ( const void Buffer,
size_t  Count 
)
inherited

Writes a block of bytes to the stream from Buffer.

Exceptions
std::exceptionOn any error
See also
Important, see: WriteBufferFixEndianness
Note
This method is endianness-dependent.

Definition at line 64 of file CStream.cpp.

References ASSERT_, and THROW_EXCEPTION.

Referenced by mrpt::compress::zip::compress(), mrpt::utils::CMessage::deserializeIntoExistingObject(), mrpt::utils::CMessage::deserializeIntoNewObject(), mrpt::hwdrivers::CHokuyoURG::displaySensorInfo(), mrpt::hwdrivers::CHokuyoURG::displayVersionInfo(), mrpt::hwdrivers::CNTRIPEmitter::doProcess(), mrpt::hwdrivers::CGPSInterface::doProcess(), empty_output_buffer(), mrpt::hwdrivers::CHokuyoURG::enableSCIP20(), mrpt::hwdrivers::CGPSInterface::implement_parser_NOVATEL_OEM6(), mrpt::obs::gnss::Message_NV_OEM6_GENERIC_FRAME::internal_writeToStream(), mrpt::obs::gnss::Message_NV_OEM6_GENERIC_SHORT_FRAME::internal_writeToStream(), mrpt::obs::gnss::Message_NV_OEM6_RANGECMP::internal_writeToStream(), mrpt::obs::gnss::Message_NV_OEM6_VERSION::internal_writeToStream(), mrpt::utils::mrpt_recv_from_zmq_buf(), mrpt::utils::ObjectToString(), mrpt::hwdrivers::CGPSInterface::OnConnectionEstablished(), mrpt::hwdrivers::CGPSInterface::OnConnectionShutdown(), mrpt::utils::operator<<(), mrpt::utils::CMemoryStream::saveBufferToFile(), mrpt::hwdrivers::CGPSInterface::sendCustomCommand(), mrpt::hwdrivers::CBoardENoses::setActiveChamber(), mrpt::hwdrivers::CHokuyoURG::setHighBaudrate(), mrpt::hwdrivers::CHokuyoURG::setHighSensitivityMode(), mrpt::hwdrivers::CHokuyoURG::setMotorSpeed(), mrpt::hwdrivers::CHokuyoURG::startScanningMode(), mrpt::utils::StringToObject(), mrpt::hwdrivers::CHokuyoURG::switchLaserOff(), mrpt::hwdrivers::CHokuyoURG::switchLaserOn(), term_destination(), mrpt::system::vectorToBinaryFile(), mrpt::utils::CStream::WriteBufferFixEndianness(), mrpt::nav::CLogFileRecord::writeToStream(), mrpt::maps::CGasConcentrationGridMap2D::writeToStream(), mrpt::maps::CWirelessPowerGridMap2D::writeToStream(), mrpt::maps::CHeightGridMap2D_MRF::writeToStream(), mrpt::maps::CReflectivityGridMap2D::writeToStream(), mrpt::obs::CObservation2DRangeScan::writeToStream(), mrpt::maps::COccupancyGridMap2D::writeToStream(), mrpt::obs::CObservationVelodyneScan::writeToStream(), mrpt::maps::CRandomFieldGridMap3D::writeToStream(), mrpt::utils::CImage::writeToStream(), and mrpt::opengl::CRenderizable::writeToStreamRender().

Here is the caller graph for this function:

◆ WriteBufferFixEndianness()

template<typename T >
void mrpt::utils::CStream::WriteBufferFixEndianness ( const T *  ptr,
size_t  ElementCount 
)
inlineinherited

Writes a sequence of elemental datatypes, taking care of reordering their bytes from the running architecture to MRPT stream standard (little endianness).

Parameters
ElementCountThe number of elements (not bytes) to write.
ptrA pointer to the first input element in an array (or std::vector<>, etc...). Example of usage:
vector<float> vec = ...
uint32_t N = vec.size();
s << N
if (N)
s.WriteBufferFixEndianness<float>(&vec[0],N);
Exceptions
std::exceptionOn any error
See also
WriteBuffer

Definition at line 159 of file CStream.h.

References mrpt::utils::CStream::WriteBuffer().

Referenced by mrpt::math::operator<<(), triangle_writeToStream(), mrpt::math::CMatrix::writeToStream(), mrpt::math::CMatrixD::writeToStream(), mrpt::maps::CWeightedPointsMap::writeToStream(), mrpt::maps::CColouredPointsMap::writeToStream(), mrpt::maps::CSimplePointsMap::writeToStream(), mrpt::obs::CObservation2DRangeScan::writeToStream(), mrpt::maps::COccupancyGridMap2D::writeToStream(), and mrpt::obs::CObservation3DRangeScan::writeToStream().

Here is the call graph for this function:
Here is the caller graph for this function:

◆ WriteObject() [1/2]

void CStream::WriteObject ( const CSerializable o)
inherited

◆ WriteObject() [2/2]

void mrpt::utils::CStream::WriteObject ( const CSerializable o)
inlineinherited

Definition at line 198 of file CStream.h.

References mrpt::utils::CStream::WriteObject().

Referenced by mrpt::utils::CStream::WriteObject().

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 135 of file CInterfaceFTDI.h.

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

Here is the call graph for this function:

◆ WriteVariant()

template<typename T >
void mrpt::utils::CStream::WriteVariant ( t)
inlineinherited

Writes a Variant to the stream.

Definition at line 312 of file CStream.h.

References mrpt::utils::CStream::WriteObject().

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
protectedinherited

◆ 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 110 of file CBoardSonars.h.

◆ m_ftdi_context

void* mrpt::comms::CInterfaceFTDI::m_ftdi_context
protectedinherited

Definition at line 243 of file CInterfaceFTDI.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 99 of file CBoardSonars.h.

◆ m_grab_decimation

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation
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
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
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 104 of file CBoardSonars.h.

◆ m_minTimeBetweenPings

float mrpt::hwdrivers::CBoardSonars::m_minTimeBetweenPings
protected

The minimum time between sonar pings (in seconds).

Definition at line 125 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
protectedinherited

◆ m_readBuffer

mrpt::utils::circular_buffer<uint8_t> mrpt::comms::CInterfaceFTDI::m_readBuffer
protectedinherited

Used in Read.

Definition at line 158 of file CInterfaceFTDI.h.

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

◆ m_sensorLabel

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

See CGenericSensor.

Definition at line 141 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(), mrpt::hwdrivers::CIMUXSens_MT4::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(), mrpt::hwdrivers::CIMUXSens_MT4::doProcess(), mrpt::hwdrivers::CIMUXSens::doProcess(), mrpt::hwdrivers::CGyroKVHDSP3000::doProcess(), mrpt::hwdrivers::CIMUIntersense::doProcess(), mrpt::hwdrivers::CSkeletonTracker::doProcess(), mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CCANBusReader::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::CKinect::getNextObservation(), mrpt::hwdrivers::CVelodyneScanner::getNextObservation(), mrpt::hwdrivers::CGenericSensor::getSensorLabel(), mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread(), mrpt::hwdrivers::CGenericSensor::loadConfig(), mrpt::hwdrivers::CSkeletonTracker::processPreview(), mrpt::hwdrivers::C2DRangeFinderAbstract::processPreview(), mrpt::hwdrivers::CSkeletonTracker::processPreviewNone(), and mrpt::hwdrivers::CGenericSensor::setSensorLabel().

◆ 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 116 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 121 of file CBoardSonars.h.

◆ m_state

TSensorState mrpt::hwdrivers::CGenericSensor::m_state
protectedinherited

◆ 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 95 of file CBoardSonars.h.

◆ m_verbose

bool mrpt::hwdrivers::CGenericSensor::m_verbose
protectedinherited



Page generated by Doxygen 1.8.14 for MRPT 1.9.9 Git: ae4571287 Thu Nov 23 00:06:53 2017 +0100 at dom oct 27 23:51:55 CET 2019