Detailed Description

This "software driver" implements the communication protocol for interfacing a SICK LMS 2XX laser scanners through a standard RS232 serial port (or a USB2SERIAL converter).

The serial port is opened upon the first call to "doProcess" or "initialize", so you must call "loadConfig" before this, or manually call "setSerialPort". Another alternative is to call the base class method C2DRangeFinderAbstract::bindIO, but the "setSerialPort" interface is probably much simpler to use.

For an example of usage see the example in "samples/SICK_laser_serial_test". See also the example configuration file for rawlog-grabber in "share/mrpt/config_files/rawlog-grabber".

  PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
 -------------------------------------------------------
   [supplied_section_name]
   COM_port_WIN = COM1   // Serial port to connect to
   COM_port_LIN = ttyS0
   COM_baudRate = 38400 // Possible values: 9600 (default), 38400, 5000000
   mm_mode      = 1/0   // 1: millimeter mode, 0:centimeter mode (Default=0)
   FOV          = 180   // Field of view: 100 or 180 degrees (Default=180)
   resolution   =  50   // Scanning resolution, in units of 1/100 degree.
Valid values: 25,50,100 (Default=50)
   pose_x=0.21  // Laser range scaner 3D position in the robot (meters)
   pose_y=0
   pose_z=0.34
   pose_yaw=0   // Angles in degrees
   pose_pitch=0
   pose_roll=0

See also: C2DRangeFinderAbstract

Definition at line 60 of file CCANBusReader.h.

#include <mrpt/hwdrivers/CCANBusReader.h>

Inheritance diagram for mrpt::hwdrivers::CCANBusReader:

Public Types
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::Ptr >	TListObservations

typedef std::pair< mrpt::system::TTimeStamp, mrpt::utils::CSerializable::Ptr >	TListObsPair

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

virtual	~CCANBusReader ()
	Destructor. More...

void	setSerialPort (const std::string &port)
	Changes the serial port to connect to (call prior to 'doProcess'), for example "COM1" or "ttyS0". More...

std::string	getSerialPort () const

void	setBaudRate (int baud)
	Changes the serial port baud rate (call prior to 'doProcess'); valid values are 9600,38400 and 500000. More...

int	getBaudRate () const

void	setCANReaderTimeStamping (bool setTimestamp=false)
	Enables/Disables the addition of a timestamp according to the arrival time to the converter (default=false) (call prior to 'doProcess') This is not needed if the configuration is loaded with "loadConfig". More...

bool	getCANReaderTimeStamping ()

void	setCANReaderSpeed (const unsigned int speed)
	Sets the CAN reader speed when connecting to the CAN Bus. More...

unsigned int	getCANReaderSpeed ()

unsigned int	getCurrentConnectTry () const
	If performing several tries in ::initialize(), this is the current try loop number. More...

void	doProcessSimple (bool &outThereIsObservation, mrpt::obs::CObservationCANBusJ1939 &outObservation, bool &hardwareError)
	Specific laser scanner "software drivers" must process here new data from the I/O stream, and, if a whole scan has arrived, return it. More...

void	initialize ()
	Set-up communication with the laser. More...

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

virtual const mrpt::hwdrivers::TSensorClassId *	GetRuntimeClass () const =0

TSensorState	getState () const
	The current state of the sensor. More...

double	getProcessRate () const

std::string	getSensorLabel () const

void	setSensorLabel (const std::string &sensorLabel)

void	enableVerbose (bool enabled=true)
	Enable or disable extra debug info dumped to std::cout during sensor operation. More...

bool	isVerboseEnabled () const

void	loadConfig (const mrpt::utils::CConfigFileBase &configSource, const std::string &section)
	Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific". More...

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

virtual void	setPathForExternalImages (const std::string &directory)
	Set the path where to save off-rawlog image files (will be ignored in those sensors where this is not applicable). More...

void	setExternalImageFormat (const std::string &ext)
	Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg". More...

void	setExternalImageJPEGQuality (const unsigned int quality)
	The quality of JPEG compression, when external images is enabled and the format is "jpg". More...

unsigned int	getExternalImageJPEGQuality () const

Static Public Member Functions
static void	registerClass (const TSensorClassId *pNewClass)
	Register a class into the internal list of "CGenericSensor" descendents. More...

static CGenericSensor *	createSensor (const std::string &className)
	Creates a sensor by a name of the class. More...

static 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
void	loadConfig_sensorSpecific (const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection)
	See the class documentation at the top for expected parameters. More...

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

Private Member Functions
bool	tryToOpenComms (std::string *err_msg=nullptr)
	Tries to open the com port and setup all the LMS protocol. More...

bool	waitContinuousSampleFrame (uint8_t &out_prio, uint8_t &out_pdu_format, uint8_t &out_pdu_spec, uint8_t &out_src_address, uint8_t &out_data_length, uint16_t &out_pgn, std::vector< uint8_t > &out_data, std::vector< char > &out_raw_frame)

bool	sendCANBusReaderSpeed ()
	Sends the specified speed to the CAN Converter. More...

bool	CANBusOpenChannel ()
	Opens the CAN Channel. More...

bool	CANBusCloseChannel ()
	Closes the CAN Channel. More...

bool	CANBusAutoPoll ()

bool	CANBusPoll ()

bool	CANBusX1 ()

bool	setupSerialComms ()

bool	queryVersion (bool printOutVersion=false)

bool	waitACK (uint16_t timeout_ms)

bool	waitForVersion (uint16_t timeout, bool printOutVersion=false)

bool	waitIncomingFrame (uint16_t timeout)

bool	sendCommandToCANReader (const uint8_t *cmd, const uint16_t cmd_len, bool wait=true)

Private Attributes
uint8_t	m_received_frame_buffer [2000]

std::string	m_com_port
	If set to non-empty, the serial port will be attempted to be opened automatically when this class is first used to request data from the laser. More...

mrpt::comms::CSerialPort *	m_mySerialPort
	Will be !=nullptr only if I created it, so I must destroy it at the end. More...

int	m_com_baudRate
	Baudrate: 9600, 38400, 500000. More...

unsigned int	m_nTries_connect
	Default = 1. More...

unsigned int	m_nTries_current

int	m_canbus_speed

bool	m_canreader_timestamp

bool	m_CANBusChannel_isOpen

Member Typedef Documentation

◆ Ptr

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

inherited

Definition at line 73 of file CGenericSensor.h.

◆ TListObservations

typedef std::multimap<mrpt::system::TTimeStamp, mrpt::utils::CSerializable::Ptr> mrpt::hwdrivers::CGenericSensor::TListObservations

inherited

Definition at line 78 of file CGenericSensor.h.

◆ TListObsPair

typedef std::pair<mrpt::system::TTimeStamp, mrpt::utils::CSerializable::Ptr> mrpt::hwdrivers::CGenericSensor::TListObsPair

inherited

Definition at line 80 of file CGenericSensor.h.

Member Enumeration Documentation

◆ TSensorState

enum mrpt::hwdrivers::CGenericSensor::TSensorState

inherited

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

◆ CCANBusReader()

CCANBusReader::CCANBusReader ( )

Constructor.

Definition at line 52 of file CCANBusReader.cpp.

References m_received_frame_buffer, and mrpt::hwdrivers::CGenericSensor::m_sensorLabel.

◆ ~CCANBusReader()

CCANBusReader::~CCANBusReader ( )

virtual

Destructor.

Definition at line 70 of file CCANBusReader.cpp.

References CANBusCloseChannel(), m_CANBusChannel_isOpen, and m_mySerialPort.

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Member Function Documentation

◆ appendObservation()

void mrpt::hwdrivers::CGenericSensor::appendObservation ( const mrpt::utils::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::CIMUXSens_MT4::doProcess(), mrpt::hwdrivers::CIMUXSens::doProcess(), mrpt::hwdrivers::CGyroKVHDSP3000::doProcess(), mrpt::hwdrivers::CIMUIntersense::doProcess(), mrpt::hwdrivers::CSkeletonTracker::doProcess(), mrpt::hwdrivers::CSwissRanger3DCamera::doProcess(), mrpt::hwdrivers::C2DRangeFinderAbstract::doProcess(), doProcess(), mrpt::hwdrivers::CVelodyneScanner::doProcess(), and mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow().

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◆ 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
      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 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().

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◆ CANBusAutoPoll()

bool CCANBusReader::CANBusAutoPoll ( )

private

Definition at line 355 of file CCANBusReader.cpp.

References sendCommandToCANReader(), and waitACK().

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◆ CANBusCloseChannel()

bool CCANBusReader::CANBusCloseChannel ( )

private

Closes the CAN Channel.

Definition at line 344 of file CCANBusReader.cpp.

References m_CANBusChannel_isOpen, and sendCommandToCANReader().

Referenced by setupSerialComms(), and ~CCANBusReader().

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◆ CANBusOpenChannel()

bool CCANBusReader::CANBusOpenChannel ( )

private

Opens the CAN Channel.

Definition at line 335 of file CCANBusReader.cpp.

References m_CANBusChannel_isOpen, sendCommandToCANReader(), and waitACK().

Referenced by tryToOpenComms().

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◆ CANBusPoll()

bool CCANBusReader::CANBusPoll ( )

private

Definition at line 372 of file CCANBusReader.cpp.

References sendCommandToCANReader(), and waitACK().

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◆ CANBusX1()

bool CCANBusReader::CANBusX1 ( )

private

Definition at line 363 of file CCANBusReader.cpp.

References sendCommandToCANReader(), and waitACK().

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◆ 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 103 of file CGenericSensor.cpp.

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

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

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◆ 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().

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◆ doProcess()

void CCANBusReader::doProcess ( )

virtual

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 90 of file CCANBusReader.cpp.

References mrpt::hwdrivers::CGenericSensor::appendObservation(), and doProcessSimple().

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◆ doProcessSimple()

void CCANBusReader::doProcessSimple	(	bool &	outThereIsObservation,
		mrpt::obs::CObservationCANBusJ1939 &	outObservation,
		bool &	hardwareError
	)

Specific laser scanner "software drivers" must process here new data from the I/O stream, and, if a whole scan has arrived, return it.

This method will be typically called in a different thread than other methods, and will be called in a timely fashion.

Definition at line 107 of file CCANBusReader.cpp.

Referenced by doProcess().

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◆ 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.

◆ getBaudRate()

int mrpt::hwdrivers::CCANBusReader::getBaudRate ( ) const

inline

See also: setBaudRate

Definition at line 135 of file CCANBusReader.h.

References m_com_baudRate.

◆ getCANReaderSpeed()

unsigned int mrpt::hwdrivers::CCANBusReader::getCANReaderSpeed ( )

inline

Definition at line 149 of file CCANBusReader.h.

References m_canbus_speed.

◆ getCANReaderTimeStamping()

bool mrpt::hwdrivers::CCANBusReader::getCANReaderTimeStamping ( )

inline

Definition at line 145 of file CCANBusReader.h.

References m_canreader_timestamp.

◆ getCurrentConnectTry()

unsigned int mrpt::hwdrivers::CCANBusReader::getCurrentConnectTry ( ) const

inline

If performing several tries in ::initialize(), this is the current try loop number.

Definition at line 152 of file CCANBusReader.h.

References m_nTries_current.

◆ getExternalImageJPEGQuality()

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

inlineinherited

Definition at line 290 of file CGenericSensor.h.

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

◆ 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.

◆ 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.

◆ getSerialPort()

std::string mrpt::hwdrivers::CCANBusReader::getSerialPort ( ) const

inline

See also: setSerialPort

Definition at line 128 of file CCANBusReader.h.

References m_com_port.

◆ 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.

◆ initialize()

void CCANBusReader::initialize ( void )

virtual

Set-up communication with the laser.

Called automatically by rawlog-grabber. If used manually, call after "loadConfig" and before "doProcess".

In this class this method does nothing, since the communications are setup at the first try from "doProcess" or "doProcessSimple".

Reimplemented from mrpt::hwdrivers::CGenericSensor.

Definition at line 487 of file CCANBusReader.cpp.

References m_received_frame_buffer, and tryToOpenComms().

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◆ isVerboseEnabled()

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

inlineinherited

Definition at line 107 of file CGenericSensor.h.

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

◆ 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

This	method 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().

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◆ loadConfig_sensorSpecific()

void CCANBusReader::loadConfig_sensorSpecific	(	const mrpt::utils::CConfigFileBase &	configSource,
		const std::string &	iniSection
	)

protectedvirtual

See the class documentation at the top for expected parameters.

Implements mrpt::hwdrivers::CGenericSensor.

Definition at line 162 of file CCANBusReader.cpp.

References m_canbus_speed, m_canreader_timestamp, m_com_baudRate, m_com_port, m_nTries_connect, mrpt::utils::CConfigFileBase::read_bool(), mrpt::utils::CConfigFileBase::read_int(), and mrpt::utils::CConfigFileBase::read_string().

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◆ queryVersion()

bool CCANBusReader::queryVersion ( bool printOutVersion = false )

private

Definition at line 580 of file CCANBusReader.cpp.

References ASSERT_, m_mySerialPort, sendCommandToCANReader(), and waitForVersion().

Referenced by setupSerialComms().

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◆ 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().

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◆ sendCANBusReaderSpeed()

bool CCANBusReader::sendCANBusReaderSpeed ( )

private

Sends the specified speed to the CAN Converter.

Definition at line 292 of file CCANBusReader.cpp.

References m_canbus_speed, RET_ERROR, sendCommandToCANReader(), and waitACK().

Referenced by tryToOpenComms().

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◆ sendCommandToCANReader()

bool CCANBusReader::sendCommandToCANReader	(	const uint8_t *	cmd,
		const uint16_t	cmd_len,
		bool	wait = `true`
	)

private

Definition at line 724 of file CCANBusReader.cpp.

References ASSERT_, m_mySerialPort, mrpt::system::os::memcpy(), MRPT_UNUSED_PARAM, and mrpt::comms::CSerialPort::Write().

Referenced by CANBusAutoPoll(), CANBusCloseChannel(), CANBusOpenChannel(), CANBusPoll(), CANBusX1(), queryVersion(), and sendCANBusReaderSpeed().

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◆ setBaudRate()

void mrpt::hwdrivers::CCANBusReader::setBaudRate ( int baud )

inline

Changes the serial port baud rate (call prior to 'doProcess'); valid values are 9600,38400 and 500000.

This is not needed if the configuration is loaded with "loadConfig".

See also: getBaudRate

Definition at line 133 of file CCANBusReader.h.

References m_com_baudRate.

Referenced by setupSerialComms().

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◆ setCANReaderSpeed()

void mrpt::hwdrivers::CCANBusReader::setCANReaderSpeed ( const unsigned int speed )

inline

Sets the CAN reader speed when connecting to the CAN Bus.

Definition at line 148 of file CCANBusReader.h.

References m_canbus_speed.

◆ setCANReaderTimeStamping()

void mrpt::hwdrivers::CCANBusReader::setCANReaderTimeStamping ( bool setTimestamp = false )

inline

Enables/Disables the addition of a timestamp according to the arrival time to the converter (default=false) (call prior to 'doProcess') This is not needed if the configuration is loaded with "loadConfig".

Definition at line 141 of file CCANBusReader.h.

References m_canreader_timestamp.

◆ 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.

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

Reimplemented in mrpt::hwdrivers::CCameraSensor, mrpt::hwdrivers::CKinect, mrpt::hwdrivers::COpenNI2Sensor, mrpt::hwdrivers::COpenNI2_RGBD360, and mrpt::hwdrivers::CSwissRanger3DCamera.

Definition at line 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.

◆ setSerialPort()

void mrpt::hwdrivers::CCANBusReader::setSerialPort ( const std::string & port )

inline

Changes the serial port to connect to (call prior to 'doProcess'), for example "COM1" or "ttyS0".

This is not needed if the configuration is loaded with "loadConfig".

Definition at line 126 of file CCANBusReader.h.

References m_com_port.

◆ setupSerialComms()

bool CCANBusReader::setupSerialComms ( )

private

Definition at line 502 of file CCANBusReader.cpp.

References ASSERT_, CANBusCloseChannel(), m_com_baudRate, m_mySerialPort, m_nTries_connect, m_nTries_current, mrpt::comms::CSerialPort::purgeBuffers(), queryVersion(), setBaudRate(), and mrpt::comms::CSerialPort::setConfig().

Referenced by tryToOpenComms().

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◆ tryToOpenComms()

bool CCANBusReader::tryToOpenComms ( std::string * err_msg = nullptr )

private

Tries to open the com port and setup all the LMS protocol.

Returns true if OK or already open.

Definition at line 198 of file CCANBusReader.cpp.

References CANBusOpenChannel(), mrpt::comms::CSerialPort::isOpen(), m_canbus_speed, m_com_port, m_mySerialPort, MRPT_LOG_ERROR_STREAM, mrpt::comms::CSerialPort::open(), RET_ERROR, sendCANBusReaderSpeed(), mrpt::comms::CSerialPort::setConfig(), mrpt::comms::CSerialPort::setSerialPortName(), mrpt::comms::CSerialPort::setTimeouts(), and setupSerialComms().

Referenced by doProcessSimple(), and initialize().

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◆ waitACK()

bool CCANBusReader::waitACK ( uint16_t timeout_ms )

private

Definition at line 593 of file CCANBusReader.cpp.

References mrpt::format(), m_mySerialPort, mrpt::comms::CSerialPort::Read(), RET_ERROR, mrpt::utils::CTicTac::Tac(), and mrpt::utils::CTicTac::Tic().

Referenced by CANBusAutoPoll(), CANBusOpenChannel(), CANBusPoll(), CANBusX1(), and sendCANBusReaderSpeed().

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◆ waitContinuousSampleFrame()

bool CCANBusReader::waitContinuousSampleFrame	(	uint8_t &	out_prio,
		uint8_t &	out_pdu_format,
		uint8_t &	out_pdu_spec,
		uint8_t &	out_src_address,
		uint8_t &	out_data_length,
		uint16_t &	out_pgn,
		std::vector< uint8_t > &	out_data,
		std::vector< char > &	out_raw_frame
	)

private

Definition at line 383 of file CCANBusReader.cpp.

References mrpt::format(), hexCharToInt(), m_mySerialPort, MRPT_LOG_ERROR_STREAM, and mrpt::comms::CSerialPort::Read().

Referenced by doProcessSimple().

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◆ waitForVersion()

bool CCANBusReader::waitForVersion	(	uint16_t	timeout,
		bool	printOutVersion = `false`
	)

private

Definition at line 620 of file CCANBusReader.cpp.

References m_mySerialPort, m_received_frame_buffer, mrpt::comms::CSerialPort::Read(), mrpt::utils::CTicTac::Tac(), and mrpt::utils::CTicTac::Tic().

Referenced by queryVersion().

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◆ waitIncomingFrame()

bool CCANBusReader::waitIncomingFrame ( uint16_t timeout )

private

Definition at line 671 of file CCANBusReader.cpp.

References hexCharToInt(), m_mySerialPort, m_received_frame_buffer, mrpt::comms::CSerialPort::Read(), mrpt::utils::CTicTac::Tac(), and mrpt::utils::CTicTac::Tic().

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Member Data Documentation

◆ m_canbus_speed

int mrpt::hwdrivers::CCANBusReader::m_canbus_speed

private

Definition at line 105 of file CCANBusReader.h.

Referenced by getCANReaderSpeed(), loadConfig_sensorSpecific(), sendCANBusReaderSpeed(), setCANReaderSpeed(), and tryToOpenComms().

◆ m_CANBusChannel_isOpen

bool mrpt::hwdrivers::CCANBusReader::m_CANBusChannel_isOpen

private

Definition at line 107 of file CCANBusReader.h.

Referenced by CANBusCloseChannel(), CANBusOpenChannel(), and ~CCANBusReader().

◆ m_canreader_timestamp

bool mrpt::hwdrivers::CCANBusReader::m_canreader_timestamp

private

Definition at line 106 of file CCANBusReader.h.

Referenced by getCANReaderTimeStamping(), loadConfig_sensorSpecific(), and setCANReaderTimeStamping().

◆ m_com_baudRate

int mrpt::hwdrivers::CCANBusReader::m_com_baudRate

private

Baudrate: 9600, 38400, 500000.

Definition at line 101 of file CCANBusReader.h.

Referenced by getBaudRate(), loadConfig_sensorSpecific(), setBaudRate(), and setupSerialComms().

◆ m_com_port

std::string mrpt::hwdrivers::CCANBusReader::m_com_port

private

If set to non-empty, the serial port will be attempted to be opened automatically when this class is first used to request data from the laser.

Definition at line 96 of file CCANBusReader.h.

Referenced by getSerialPort(), loadConfig_sensorSpecific(), setSerialPort(), and tryToOpenComms().

◆ 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

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_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_mySerialPort

mrpt::comms::CSerialPort* mrpt::hwdrivers::CCANBusReader::m_mySerialPort

private

Will be !=nullptr only if I created it, so I must destroy it at the end.

Definition at line 99 of file CCANBusReader.h.

Referenced by queryVersion(), sendCommandToCANReader(), setupSerialComms(), tryToOpenComms(), waitACK(), waitContinuousSampleFrame(), waitForVersion(), waitIncomingFrame(), and ~CCANBusReader().

◆ m_nTries_connect

unsigned int mrpt::hwdrivers::CCANBusReader::m_nTries_connect

private

Default = 1.

Definition at line 103 of file CCANBusReader.h.

Referenced by loadConfig_sensorSpecific(), and setupSerialComms().

◆ m_nTries_current

unsigned int mrpt::hwdrivers::CCANBusReader::m_nTries_current

private

Definition at line 104 of file CCANBusReader.h.

Referenced by getCurrentConnectTry(), and setupSerialComms().

◆ 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

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_received_frame_buffer

uint8_t mrpt::hwdrivers::CCANBusReader::m_received_frame_buffer[2000]

private

Definition at line 91 of file CCANBusReader.h.

Referenced by CCANBusReader(), initialize(), waitForVersion(), and waitIncomingFrame().

◆ m_sensorLabel

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

protectedinherited

See CGenericSensor.

Definition at line 141 of file CGenericSensor.h.

◆ m_state

TSensorState mrpt::hwdrivers::CGenericSensor::m_state

protectedinherited

Definition at line 148 of file CGenericSensor.h.

◆ m_verbose

bool mrpt::hwdrivers::CGenericSensor::m_verbose

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

Private Member Functions

Private Attributes

Member Typedef Documentation

◆ Ptr

◆ TListObservations

◆ TListObsPair

Member Enumeration Documentation

◆ TSensorState

Constructor & Destructor Documentation

◆ CCANBusReader()

◆ ~CCANBusReader()

Member Function Documentation

◆ appendObservation()

◆ appendObservations()

◆ CANBusAutoPoll()

◆ CANBusCloseChannel()

◆ CANBusOpenChannel()

◆ CANBusPoll()

◆ CANBusX1()

◆ createSensor()

◆ createSensorPtr()

◆ doProcess()

◆ doProcessSimple()

◆ enableVerbose()

◆ getBaudRate()

◆ getCANReaderSpeed()

◆ getCANReaderTimeStamping()

◆ getCurrentConnectTry()

◆ getExternalImageJPEGQuality()

◆ getObservations()

◆ getProcessRate()

◆ GetRuntimeClass()

◆ getSensorLabel()

◆ getSerialPort()

◆ getState()

◆ initialize()

◆ isVerboseEnabled()

◆ loadConfig()

◆ loadConfig_sensorSpecific()

◆ queryVersion()

◆ registerClass()

◆ sendCANBusReaderSpeed()

◆ sendCommandToCANReader()

◆ setBaudRate()

◆ setCANReaderSpeed()

◆ setCANReaderTimeStamping()

◆ setExternalImageFormat()

◆ setExternalImageJPEGQuality()

◆ setPathForExternalImages()

◆ setSensorLabel()

◆ setSerialPort()

◆ setupSerialComms()

◆ tryToOpenComms()

◆ waitACK()

◆ waitContinuousSampleFrame()

◆ waitForVersion()

◆ waitIncomingFrame()

Member Data Documentation

◆ m_canbus_speed

◆ m_CANBusChannel_isOpen

◆ m_canreader_timestamp

◆ m_com_baudRate

◆ m_com_port

◆ m_external_images_format

◆ m_external_images_jpeg_quality

◆ m_grab_decimation

◆ m_grab_decimation_counter

◆ m_max_queue_len

◆ m_mySerialPort

◆ m_nTries_connect

◆ m_nTries_current

◆ m_path_for_external_images

◆ m_process_rate

◆ m_received_frame_buffer