Detailed Description

A class to interface a Rovio robot (manufactured by WowWee).

Supports: Simple motion commands, video streaming.

Definition at line 28 of file CRovio.h.

#include <mrpt/hwdrivers/CRovio.h>

Classes
struct	TEncoders

struct	TOptions

struct	TRovioState

Public Types
enum	status { idle, driving_home, docking, executing_path, recording_path }

Public Member Functions
void	initialize ()
	Establish Connection with Rovio and log in its system: Important, fill out "options" members BEFORE calling this method. More...

bool	move (char direction, int speed=5)
	move send Rovio the command to move in the specified direcction More...

bool	rotate (char direction, int speed=5)
	rotate send Rovio the command to rotate in the specified direcction 'r'->right, 'l'->left More...

bool	takeHeadUp ()
	Head positions. More...

bool	takeHeadMiddle ()

bool	takeHeadDown ()

bool	pathRecord ()

bool	pathRecordAbort ()

bool	pathRecordSave (const std::string &path_name)

bool	pathDelete (const std::string &path_name)

bool	pathGetList (std::string &path_list)
	Get list of saved paths. More...

bool	pathRunForward ()

bool	pathRunBackward ()

bool	pathRunStop ()

bool	pathRunPause ()

bool	pathRename (const std::string &old_name, const std::string &new_name)

bool	goHome (bool dock, int speed=5)
	goHome(bool dock) drives Rovio in front of charging station if the paremeter dock is set to false, otherwise it also docks More...

void	loadConfig (const mrpt::utils::CConfigFileBase &configSource, const std::string &section)
	Loads the rovio camera calibration parameters (of leave the default ones if not found) (See CGenericSensor), then call to "loadConfig_sensorSpecific". More...

bool	retrieve_video ()
	This function launchs a thread with the function "thread_video()" which gets frames into a buffer. More...

bool	stop_video ()
	This function stops and joins the thread launched by "retrieve_video()". More...

bool	getNextImageSync (mrpt::obs::CObservationImage::Ptr &lastImage)
	Returns the next frame from Rovio's live video stream, after starting the live streaming with retrieve_video() More...

bool	captureImageAsync (mrpt::utils::CImage &out_img, bool recttified)
	Returns a snapshot from Rovio, if rectified is set true, the returned image is rectified with the parameters of intrinsic_matrix and distortion_matrix. More...

bool	isVideoStreamming () const
	Return true if video is streaming correctly. More...

bool	getRovioState (TRovioState &state)
	Returns a TRovioState with internal information of Rovio (State, Navigation Signal Strength, Wifi Signal Strength) More...

bool	getEncoders (TEncoders &encoders)
	Returns a TEncoders with information of Rovio encoders (since last read, it seems Rovio is continuously reading with unknown sample time) More...

bool	getPosition (mrpt::math::TPose2D &out_pose)
	Returns the Rovio's pose. More...

	CRovio ()

virtual	~CRovio ()

Public Attributes
struct mrpt::hwdrivers::CRovio::TOptions	options

struct mrpt::hwdrivers::CRovio::TEncoders	encoders

Private Member Functions
void	thread_video ()
	This function takes a frame and waits until getLastImage ask for it, and so on. More...

bool	send_cmd_action (int act, int speed)

bool	path_management (int act)

bool	path_management (int act, const std::string &path_name)

bool	general_command (int act, std::string &response, std::string &errormsg)

Private Attributes
std::thread	m_videoThread

bool	m_videothread_must_exit

bool	m_videothread_initialized_done

bool	m_videothread_initialized_error

bool	m_videothread_finished

mrpt::obs::CObservationImage::Ptr	buffer_img

std::mutex	buffer_img_cs

Member Enumeration Documentation

◆ status

enum mrpt::hwdrivers::CRovio::status

Enumerator
idle
driving_home
docking
executing_path
recording_path

Definition at line 65 of file CRovio.h.

Constructor & Destructor Documentation

◆ CRovio()

CRovio::CRovio ( )

Definition at line 512 of file CRovio.cpp.

◆ ~CRovio()

CRovio::~CRovio ( )

virtual

Definition at line 513 of file CRovio.cpp.

References isVideoStreamming(), and stop_video().

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Member Function Documentation

◆ captureImageAsync()

bool CRovio::captureImageAsync	(	mrpt::utils::CImage &	out_img,
		bool	recttified
	)

Returns a snapshot from Rovio, if rectified is set true, the returned image is rectified with the parameters of intrinsic_matrix and distortion_matrix.

This function works asynchronously and does not need to have enabled the live video streaming.

Returns: False on error

See also: captureImageSync

Definition at line 343 of file CRovio.cpp.

References mrpt::hwdrivers::CRovio::TOptions::cameraParams, mrpt::format(), mrpt::comms::net::http_get(), mrpt::hwdrivers::CRovio::TOptions::IP, mrpt::utils::CImage::loadFromStreamAsJPEG(), options, mrpt::hwdrivers::CRovio::TOptions::password, mrpt::utils::CImage::rectifyImageInPlace(), and mrpt::hwdrivers::CRovio::TOptions::user.

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◆ general_command()

bool CRovio::general_command	(	int	act,
		std::string &	response,
		std::string &	errormsg
	)

private

Definition at line 104 of file CRovio.cpp.

References mrpt::format(), mrpt::comms::net::http_get(), mrpt::hwdrivers::CRovio::TOptions::IP, options, mrpt::hwdrivers::CRovio::TOptions::password, and mrpt::hwdrivers::CRovio::TOptions::user.

Referenced by getEncoders(), getPosition(), getRovioState(), and pathGetList().

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◆ getEncoders()

bool CRovio::getEncoders ( CRovio::TEncoders & encoders )

Returns a TEncoders with information of Rovio encoders (since last read, it seems Rovio is continuously reading with unknown sample time)

Returns: False on error

Definition at line 407 of file CRovio.cpp.

References convertToLong(), encoders, mrpt::obs::gnss::error, general_command(), mrpt::hwdrivers::CRovio::TEncoders::left, MRPT_UNUSED_PARAM, and mrpt::system::os::strcpy().

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◆ getNextImageSync()

bool CRovio::getNextImageSync ( mrpt::obs::CObservationImage::Ptr & lastImage )

Returns the next frame from Rovio's live video stream, after starting the live streaming with retrieve_video()

Returns: False on error

See also: retrieve_video, captureImageAsync

Definition at line 324 of file CRovio.cpp.

References buffer_img, buffer_img_cs, and isVideoStreamming().

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◆ getPosition()

bool CRovio::getPosition ( mrpt::math::TPose2D & out_pose )

Returns the Rovio's pose.

Returns: False on error

Definition at line 475 of file CRovio.cpp.

References general_command(), mrpt::math::TPose2D::phi, mrpt::system::os::strcpy(), mrpt::math::TPose2D::x, and mrpt::math::TPose2D::y.

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◆ getRovioState()

bool CRovio::getRovioState ( CRovio::TRovioState & status )

Returns a TRovioState with internal information of Rovio (State, Navigation Signal Strength, Wifi Signal Strength)

Returns: False on error

Definition at line 372 of file CRovio.cpp.

References mrpt::obs::gnss::error, general_command(), MRPT_UNUSED_PARAM, mrpt::system::os::strcpy(), and mrpt::math::TPose2D::x.

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◆ goHome()

bool CRovio::goHome	(	bool	dock,
		int	speed = `5`
	)

goHome(bool dock) drives Rovio in front of charging station if the paremeter dock is set to false, otherwise it also docks

Returns: False on error

Definition at line 189 of file CRovio.cpp.

References send_cmd_action().

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◆ initialize()

void CRovio::initialize ( void )

Establish Connection with Rovio and log in its system: Important, fill out "options" members BEFORE calling this method.

Exceptions

std::runtime On errors

Definition at line 49 of file CRovio.cpp.

References mrpt::format(), mrpt::comms::net::http_get(), mrpt::hwdrivers::CRovio::TOptions::IP, options, mrpt::hwdrivers::CRovio::TOptions::password, THROW_EXCEPTION_FMT, and mrpt::hwdrivers::CRovio::TOptions::user.

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◆ isVideoStreamming()

bool CRovio::isVideoStreamming ( ) const

Return true if video is streaming correctly.

See also: retrieve_video

Definition at line 306 of file CRovio.cpp.

References m_videoThread, and m_videothread_finished.

Referenced by getNextImageSync(), stop_video(), and ~CRovio().

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◆ loadConfig()

void CRovio::loadConfig	(	const mrpt::utils::CConfigFileBase &	configSource,
		const std::string &	section
	)

Loads the rovio camera calibration parameters (of leave the default ones if not found) (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 200 of file CRovio.cpp.

References mrpt::hwdrivers::CRovio::TOptions::cameraParams, mrpt::utils::TCamera::loadFromConfigFile(), and options.

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◆ move()

bool CRovio::move	(	char	direction,
		int	speed = `5`
	)

move send Rovio the command to move in the specified direcction

Parameters

direction 'f'->forward, 'b'->backward, 'r'->right, 'l'->left

Returns: False on error

Definition at line 116 of file CRovio.cpp.

References send_cmd_action().

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◆ path_management() [1/2]

bool CRovio::path_management ( int act )

private

Definition at line 80 of file CRovio.cpp.

References mrpt::format(), mrpt::comms::net::http_get(), mrpt::hwdrivers::CRovio::TOptions::IP, options, mrpt::hwdrivers::CRovio::TOptions::password, and mrpt::hwdrivers::CRovio::TOptions::user.

Referenced by pathDelete(), pathRecord(), pathRecordAbort(), pathRecordSave(), pathRunBackward(), pathRunForward(), pathRunPause(), and pathRunStop().

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◆ path_management() [2/2]

bool CRovio::path_management	(	int	act,
		const std::string &	path_name
	)

private

Definition at line 90 of file CRovio.cpp.

References mrpt::format(), mrpt::comms::net::http_get(), mrpt::hwdrivers::CRovio::TOptions::IP, options, mrpt::hwdrivers::CRovio::TOptions::password, and mrpt::hwdrivers::CRovio::TOptions::user.

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◆ pathDelete()

bool CRovio::pathDelete ( const std::string & path_name )

Definition at line 162 of file CRovio.cpp.

References path_management().

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◆ pathGetList()

bool CRovio::pathGetList ( std::string & path_list )

Get list of saved paths.

Definition at line 166 of file CRovio.cpp.

References mrpt::obs::gnss::error, and general_command().

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◆ pathRecord()

bool CRovio::pathRecord ( )

Definition at line 156 of file CRovio.cpp.

References path_management().

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◆ pathRecordAbort()

bool CRovio::pathRecordAbort ( )

Definition at line 157 of file CRovio.cpp.

References path_management().

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◆ pathRecordSave()

bool CRovio::pathRecordSave ( const std::string & path_name )

Definition at line 158 of file CRovio.cpp.

References path_management().

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◆ pathRename()

bool CRovio::pathRename	(	const std::string &	old_name,
		const std::string &	new_name
	)

Definition at line 176 of file CRovio.cpp.

References mrpt::format(), mrpt::comms::net::http_get(), mrpt::hwdrivers::CRovio::TOptions::IP, options, mrpt::hwdrivers::CRovio::TOptions::password, and mrpt::hwdrivers::CRovio::TOptions::user.

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◆ pathRunBackward()

bool CRovio::pathRunBackward ( )

Definition at line 173 of file CRovio.cpp.

References path_management().

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◆ pathRunForward()

bool CRovio::pathRunForward ( )

Definition at line 172 of file CRovio.cpp.

References path_management().

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◆ pathRunPause()

bool CRovio::pathRunPause ( )

Definition at line 175 of file CRovio.cpp.

References path_management().

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◆ pathRunStop()

bool CRovio::pathRunStop ( )

Definition at line 174 of file CRovio.cpp.

References path_management().

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◆ retrieve_video()

bool CRovio::retrieve_video ( )

This function launchs a thread with the function "thread_video()" which gets frames into a buffer.

After calling this method, images can be obtained with getNextImageSync()

Returns: False on error

See also: getNextImageSync

Definition at line 277 of file CRovio.cpp.

References m_videoThread, m_videothread_finished, m_videothread_initialized_done, m_videothread_initialized_error, m_videothread_must_exit, and thread_video().

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◆ rotate()

bool CRovio::rotate	(	char	direction,
		int	speed = `5`
	)

rotate send Rovio the command to rotate in the specified direcction 'r'->right, 'l'->left

Returns: False on error

Definition at line 134 of file CRovio.cpp.

References send_cmd_action().

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◆ send_cmd_action()

bool CRovio::send_cmd_action	(	int	act,
		int	speed
	)

private

Definition at line 67 of file CRovio.cpp.

References mrpt::format(), mrpt::comms::net::http_get(), mrpt::hwdrivers::CRovio::TOptions::IP, options, mrpt::hwdrivers::CRovio::TOptions::password, and mrpt::hwdrivers::CRovio::TOptions::user.

Referenced by goHome(), move(), rotate(), takeHeadDown(), takeHeadMiddle(), and takeHeadUp().

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◆ stop_video()

bool CRovio::stop_video ( )

This function stops and joins the thread launched by "retrieve_video()".

Returns: False on error

Definition at line 311 of file CRovio.cpp.

References isVideoStreamming(), m_videoThread, and m_videothread_must_exit.

Referenced by ~CRovio().

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◆ takeHeadDown()

bool CRovio::takeHeadDown ( )

Definition at line 152 of file CRovio.cpp.

References send_cmd_action().

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◆ takeHeadMiddle()

bool CRovio::takeHeadMiddle ( )

Definition at line 151 of file CRovio.cpp.

References send_cmd_action().

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◆ takeHeadUp()

bool CRovio::takeHeadUp ( )

Head positions.

Returns: False on error

Definition at line 150 of file CRovio.cpp.

References send_cmd_action().

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◆ thread_video()

void CRovio::thread_video ( )

private

This function takes a frame and waits until getLastImage ask for it, and so on.

Definition at line 211 of file CRovio.cpp.

References buffer_img, buffer_img_cs, mrpt::hwdrivers::CRovio::TOptions::cameraParams, mrpt::hwdrivers::CFFMPEG_InputStream::close(), mrpt::format(), mrpt::hwdrivers::CRovio::TOptions::IP, m_videothread_finished, m_videothread_initialized_done, m_videothread_initialized_error, m_videothread_must_exit, mrpt::hwdrivers::CFFMPEG_InputStream::openURL(), options, and mrpt::hwdrivers::CFFMPEG_InputStream::retrieveFrame().

Referenced by retrieve_video().

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Member Data Documentation

◆ buffer_img

mrpt::obs::CObservationImage::Ptr mrpt::hwdrivers::CRovio::buffer_img

private

Definition at line 37 of file CRovio.h.

Referenced by getNextImageSync(), and thread_video().

◆ buffer_img_cs

std::mutex mrpt::hwdrivers::CRovio::buffer_img_cs

private

Definition at line 38 of file CRovio.h.

Referenced by getNextImageSync(), and thread_video().

◆ encoders

struct mrpt::hwdrivers::CRovio::TEncoders mrpt::hwdrivers::CRovio::encoders

Referenced by getEncoders().

◆ m_videoThread

std::thread mrpt::hwdrivers::CRovio::m_videoThread

private

Definition at line 31 of file CRovio.h.

Referenced by isVideoStreamming(), retrieve_video(), and stop_video().

◆ m_videothread_finished

bool mrpt::hwdrivers::CRovio::m_videothread_finished

private

Definition at line 35 of file CRovio.h.

Referenced by isVideoStreamming(), retrieve_video(), and thread_video().

◆ m_videothread_initialized_done

bool mrpt::hwdrivers::CRovio::m_videothread_initialized_done

private

Definition at line 33 of file CRovio.h.

Referenced by retrieve_video(), and thread_video().

◆ m_videothread_initialized_error

bool mrpt::hwdrivers::CRovio::m_videothread_initialized_error

private

Definition at line 34 of file CRovio.h.

Referenced by retrieve_video(), and thread_video().

◆ m_videothread_must_exit

bool mrpt::hwdrivers::CRovio::m_videothread_must_exit

private

Definition at line 32 of file CRovio.h.

Referenced by retrieve_video(), stop_video(), and thread_video().

◆ options

struct mrpt::hwdrivers::CRovio::TOptions mrpt::hwdrivers::CRovio::options

Referenced by captureImageAsync(), general_command(), initialize(), loadConfig(), path_management(), pathRename(), send_cmd_action(), and thread_video().

Detailed Description

Classes

Public Types

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Member Enumeration Documentation

◆ status

Constructor & Destructor Documentation

◆ CRovio()

◆ ~CRovio()

Member Function Documentation

◆ captureImageAsync()

◆ general_command()

◆ getEncoders()

◆ getNextImageSync()

◆ getPosition()

◆ getRovioState()

◆ goHome()

◆ initialize()

◆ isVideoStreamming()

◆ loadConfig()

◆ move()

◆ path_management() [1/2]

◆ path_management() [2/2]

◆ pathDelete()

◆ pathGetList()

◆ pathRecord()

◆ pathRecordAbort()

◆ pathRecordSave()

◆ pathRename()

◆ pathRunBackward()

◆ pathRunForward()

◆ pathRunPause()

◆ pathRunStop()

◆ retrieve_video()

◆ rotate()

◆ send_cmd_action()

◆ stop_video()

◆ takeHeadDown()

◆ takeHeadMiddle()

◆ takeHeadUp()

◆ thread_video()

Member Data Documentation

◆ buffer_img

◆ buffer_img_cs

◆ encoders

◆ m_videoThread

◆ m_videothread_finished

◆ m_videothread_initialized_done

◆ m_videothread_initialized_error

◆ m_videothread_must_exit

◆ options