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 53 of file CBoardSonars.h.

#include <mrpt/hwdrivers/CBoardSonars.h>

Inheritance diagram for mrpt::hwdrivers::CBoardSonars:

Public Types

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

Public Member Functions

 CBoardSonars ()
 Constructor. More...
 
 ~CBoardSonars () override=default
 Destructor. More...
 
bool queryFirmwareVersion (std::string &out_firmwareVersion)
 Query the firmware version on the device (can be used to test communications). More...
 
bool getObservation (mrpt::obs::CObservationRange &obs)
 Request the latest range measurements. More...
 
bool programI2CAddress (uint8_t currentAddress, uint8_t newAddress)
 Requests a command of "change address" for a given SRF10 device. More...
 
void doProcess () override
 This method will be invoked at a minimum rate of "process_rate" (Hz) More...
 
bool isOpen ()
 Checks whether the chip has been successfully open. More...
 
void OpenBySerialNumber (const std::string &serialNumber)
 Open by device serial number. More...
 
void OpenByDescription (const std::string &description)
 Open by device description. More...
 
void Close ()
 Close the USB device. More...
 
void ResetDevice ()
 Reset the USB device. More...
 
void Purge ()
 Purge the I/O buffers. More...
 
void SetLatencyTimer (unsigned char latency_ms)
 Change the latency timer (in milliseconds) implemented on the FTDI chip: for a few ms, data is not sent to the PC waiting for possible more data, to save USB trafic. More...
 
void SetTimeouts (unsigned long dwReadTimeout_ms, unsigned long dwWriteTimeout_ms)
 Change read & write timeouts, in milliseconds. More...
 
void ListAllDevices (TFTDIDeviceList &outList)
 Generates a list with all FTDI devices connected right now. More...
 
size_t ReadSync (void *Buffer, size_t Count)
 Tries to read, raising no exception if not all the bytes are available, but raising one if there is some communication error. More...
 
size_t WriteSync (const void *Buffer, size_t Count)
 Tries to write, raising no exception if not all the bytes are available, but raising one if there is some communication error. More...
 
size_t ReadBufferImmediate (void *Buffer, size_t Count) override
 Reads a block of bytes from the stream into Buffer, and returns the amound of bytes actually read, without waiting for more extra bytes to arrive (just those already enqued in the stream). More...
 
size_t Read (void *Buffer, size_t Count) override
 Introduces a pure virtual method responsible for reading from the stream. More...
 
size_t Write (const void *Buffer, size_t Count) override
 Introduces a pure virtual method responsible for writing to the stream. More...
 
uint64_t Seek (int64_t Offset, CStream::TSeekOrigin Origin=sFromBeginning) override
 This virtual method does nothing in this class. More...
 
virtual uint64_t Seek (int64_t Offset, CStream::TSeekOrigin Origin=sFromBeginning)=0
 Introduces a pure virtual method for moving to a specified position in the streamed resource. More...
 
uint64_t getTotalBytesCount () const override
 This virtual method does nothing in this class. More...
 
uint64_t getPosition () const override
 This virtual method does nothing in this class. More...
 
virtual int printf (const char *fmt,...) MRPT_printf_format_check(2
 Writes a string to the stream in a textual form. More...
 
template<typename CONTAINER_TYPE >
virtual int void printf_vector (const char *fmt, const CONTAINER_TYPE &V, char separator=',')
 Prints a vector in the format [A,B,C,...] using CStream::printf, and the fmt string for each vector element T. More...
 
bool getline (std::string &out_str)
 Reads from the stream until a '
' character is found ('' characters are ignored). More...
 
virtual const mrpt::hwdrivers::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::config::CConfigFileBase &configSource, const std::string &section)
 Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific". More...
 
virtual void initialize ()
 This method can or cannot be implemented in the derived class, depending on the need for it. More...
 
void getObservations (TListObservations &lstObjects)
 Returns a list of enqueued objects, emptying it (thread-safe). More...
 
virtual void setPathForExternalImages (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 Ptr createSensorPtr (const std::string &className)
 Just like createSensor, but returning a smart pointer to the newly created sensor object. More...
 

Protected Member Functions

bool checkConnectionAndConnect ()
 Tries to connect to the USB device (if disconnected). More...
 
bool sendConfigCommands ()
 Sends the configuration (max range, gain,...) to the USB board. More...
 
void loadConfig_sensorSpecific (const mrpt::config::CConfigFileBase &configSource, const std::string &iniSection) override
 Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file, loading from the section "[iniSection]" (see config::CConfigFileBase and derived classes) See hwdrivers::CBoardSonars for the possible parameters. More...
 
void ftdi_read (void *lpvBuffer, unsigned long dwBuffSize, unsigned long *lpdwBytesRead)
 
void ftdi_write (const void *lpvBuffer, unsigned long dwBuffSize, unsigned long *lpdwBytes)
 
void appendObservations (const std::vector< mrpt::serialization::CSerializable::Ptr > &obj)
 This method must be called by derived classes to enqueue a new observation in the list to be returned by getObservations. More...
 
void appendObservation (const mrpt::serialization::CSerializable::Ptr &obj)
 Like appendObservations() but for just one observation. More...
 

Protected Attributes

std::string m_usbSerialNumber
 A copy of the device serial number (to open the USB FTDI chip) More...
 
uint8_t m_gain
 A value between 0 and 16, for gains between 40 and 700 (not linear). More...
 
float m_maxRange
 The maximum range in meters, used for the internal device timer (value between 4cm and 11m). More...
 
std::vector< int32_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::containers::circular_buffer< uint8_t > m_readBuffer
 Used in Read. More...
 
size_t m_grab_decimation_counter {0}
 Used when "m_grab_decimation" is enabled. More...
 
TSensorState m_state {ssInitializing}
 
bool m_verbose {false}
 
std::string m_path_for_external_images
 The path where to save off-rawlog images: empty means save images embedded in the rawlog. More...
 
std::string m_external_images_format
 The extension ("jpg","gif","png",...) that determines the format of images saved externally. More...
 
unsigned int m_external_images_jpeg_quality {95}
 For JPEG images, the quality (default=95%). More...
 
Common settings to any sensor, loaded in "loadConfig"
double m_process_rate {0}
 See CGenericSensor. More...
 
size_t m_max_queue_len {200}
 See CGenericSensor. More...
 
size_t m_grab_decimation {0}
 If set to N>=2, only 1 out of N observations will be saved to m_objList. More...
 
std::string m_sensorLabel
 See CGenericSensor. More...
 

Member Typedef Documentation

◆ Ptr

Definition at line 72 of file CGenericSensor.h.

◆ TListObservations

Definition at line 76 of file CGenericSensor.h.

◆ TListObsPair

Definition at line 78 of file CGenericSensor.h.

Member Enumeration Documentation

◆ TSeekOrigin

Used in CStream::Seek.

Enumerator
sFromBeginning 
sFromCurrent 
sFromEnd 

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

◆ TSensorState

The current state of the sensor.

See also
CGenericSensor::getState
Enumerator
ssInitializing 
ssWorking 
ssError 

Definition at line 83 of file CGenericSensor.h.

Constructor & Destructor Documentation

◆ CBoardSonars()

CBoardSonars::CBoardSonars ( )

Constructor.

Definition at line 28 of file CBoardSonars.cpp.

References MRPT_END, and MRPT_START.

◆ ~CBoardSonars()

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

Destructor.

Member Function Documentation

◆ appendObservation()

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

Like appendObservations() but for just one observation.

Definition at line 178 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::CSkeletonTracker::doProcess(), mrpt::hwdrivers::CSwissRanger3DCamera::doProcess(), mrpt::hwdrivers::C2DRangeFinderAbstract::doProcess(), mrpt::hwdrivers::CCANBusReader::doProcess(), mrpt::hwdrivers::CVelodyneScanner::doProcess(), and mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow().

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◆ appendObservations()

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

This method must be called by derived classes to enqueue a new observation in the list to be returned by getObservations.

Passed objects must be created in dynamic memory and a smart pointer passed. Example of creation:

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

If several observations are passed at once in the vector, they'll be considered as a block regarding the grabbing decimation factor.

Definition at line 48 of file CGenericSensor.cpp.

References CLASS_ID, mrpt::hwdrivers::CGenericSensor::m_csObjList, mrpt::hwdrivers::CGenericSensor::m_grab_decimation, mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter, mrpt::hwdrivers::CGenericSensor::m_objList, and THROW_EXCEPTION.

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

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◆ checkConnectionAndConnect()

bool CBoardSonars::checkConnectionAndConnect ( )
protected

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

Returns
True on connection OK, false on error.

Definition at line 299 of file CBoardSonars.cpp.

◆ Close()

void CInterfaceFTDI::Close ( )
inherited

◆ 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 97 of file CGenericSensor.cpp.

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

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

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◆ createSensorPtr()

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

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

Definition at line 208 of file CGenericSensor.h.

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

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

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◆ doProcess()

void CBoardSonars::doProcess ( )
overridevirtual

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 325 of file CBoardSonars.cpp.

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

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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 104 of file CGenericSensor.h.

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

◆ ftdi_read()

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

Definition at line 301 of file CInterfaceFTDI_WIN.cpp.

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

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

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◆ ftdi_write()

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

Definition at line 313 of file CInterfaceFTDI_WIN.cpp.

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

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

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◆ 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 69 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 85 of file CGenericSensor.cpp.

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

Referenced by TEST().

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◆ getPosition()

uint64_t CInterfaceFTDI::getPosition ( ) const
overridevirtualinherited

This virtual method does nothing in this class.

Implements mrpt::io::CStream.

Definition at line 67 of file CInterfaceFTDI_common.cpp.

◆ getProcessRate()

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

Definition at line 92 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 93 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 91 of file CGenericSensor.h.

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

◆ getTotalBytesCount()

uint64_t CInterfaceFTDI::getTotalBytesCount ( ) const
overridevirtualinherited

This virtual method does nothing in this class.

Implements mrpt::io::CStream.

Definition at line 66 of file CInterfaceFTDI_common.cpp.

◆ initialize()

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

◆ isOpen()

bool CInterfaceFTDI::isOpen ( )
inherited

◆ isVerboseEnabled()

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

Definition at line 105 of file CGenericSensor.h.

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

◆ ListAllDevices()

void CInterfaceFTDI::ListAllDevices ( TFTDIDeviceList outList)
inherited

Generates a list with all FTDI devices connected right now.

Definition at line 242 of file CInterfaceFTDI_WIN.cpp.

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

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◆ loadConfig()

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

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

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

Definition at line 126 of file CGenericSensor.cpp.

References mrpt::hwdrivers::CGenericSensor::loadConfig_sensorSpecific(), mrpt::hwdrivers::CGenericSensor::m_grab_decimation, mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter, mrpt::hwdrivers::CGenericSensor::m_max_queue_len, mrpt::hwdrivers::CGenericSensor::m_process_rate, mrpt::hwdrivers::CGenericSensor::m_sensorLabel, MRPT_END, MRPT_START, mrpt::config::CConfigFileBase::read_double(), mrpt::config::CConfigFileBase::read_int(), mrpt::config::CConfigFileBase::read_string(), and sect.

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◆ loadConfig_sensorSpecific()

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

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

Implements mrpt::hwdrivers::CGenericSensor.

Definition at line 44 of file CBoardSonars.cpp.

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

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◆ OpenByDescription()

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

Open by device description.

Definition at line 437 of file CInterfaceFTDI_WIN.cpp.

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

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◆ OpenBySerialNumber()

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

Open by device serial number.

Definition at line 425 of file CInterfaceFTDI_WIN.cpp.

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

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

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◆ printf()

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

Writes a string to the stream in a textual form.

See also
CStdOutStream

Definition at line 30 of file CStream.cpp.

References MRPT_END, MRPT_START, and vsnprintf.

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

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◆ printf_vector()

template<typename CONTAINER_TYPE >
virtual int void mrpt::io::CStream::printf_vector ( const char *  fmt,
const CONTAINER_TYPE &  V,
char  separator = ',' 
)
inlineinherited

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

Template Parameters
CONTAINER_TYPEcan be any vector<T>, deque<T> or alike.

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

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

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

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◆ programI2CAddress()

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

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

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

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

Definition at line 269 of file CBoardSonars.cpp.

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

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◆ Purge()

void CInterfaceFTDI::Purge ( )
inherited

Purge the I/O buffers.

Definition at line 337 of file CInterfaceFTDI_WIN.cpp.

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

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

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◆ queryFirmwareVersion()

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

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

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

Definition at line 102 of file CBoardSonars.cpp.

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

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◆ Read()

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

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

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

Implements mrpt::io::CStream.

Definition at line 18 of file CInterfaceFTDI_common.cpp.

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

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

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◆ ReadBufferImmediate()

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

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

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

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

Reimplemented from mrpt::io::CStream.

Definition at line 68 of file CInterfaceFTDI_common.cpp.

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

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◆ ReadSync()

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

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

Definition at line 129 of file CInterfaceFTDI.h.

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

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

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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 115 of file CGenericSensor.cpp.

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

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◆ ResetDevice()

void CInterfaceFTDI::ResetDevice ( )
inherited

Reset the USB device.

Definition at line 325 of file CInterfaceFTDI_WIN.cpp.

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

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

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◆ Seek() [1/2]

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

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

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

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

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

◆ Seek() [2/2]

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

This virtual method does nothing in this class.

Definition at line 61 of file CInterfaceFTDI_common.cpp.

◆ sendConfigCommands()

bool CBoardSonars::sendConfigCommands ( )
protected

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

Used internally after a successfull connection.

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

Definition at line 133 of file CBoardSonars.cpp.

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

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◆ 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 266 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 273 of file CGenericSensor.h.

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

◆ SetLatencyTimer()

void CInterfaceFTDI::SetLatencyTimer ( unsigned char  latency_ms)
inherited

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

Definition at line 371 of file CInterfaceFTDI_WIN.cpp.

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

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

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◆ 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 255 of file CGenericSensor.h.

References MRPT_UNUSED_PARAM.

◆ setSensorLabel()

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

Definition at line 94 of file CGenericSensor.h.

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

◆ SetTimeouts()

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

Change read & write timeouts, in milliseconds.

Definition at line 349 of file CInterfaceFTDI_WIN.cpp.

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

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

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◆ Write()

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

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

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

Implements mrpt::io::CStream.

Definition at line 54 of file CInterfaceFTDI_common.cpp.

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

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

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◆ WriteSync()

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

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

Definition at line 133 of file CInterfaceFTDI.h.

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

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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 156 of file CGenericSensor.h.

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

◆ m_external_images_jpeg_quality

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

◆ m_firingOrder

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

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

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

Definition at line 107 of file CBoardSonars.h.

◆ m_gain

uint8_t mrpt::hwdrivers::CBoardSonars::m_gain
protected

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

Definition at line 96 of file CBoardSonars.h.

◆ m_grab_decimation

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

If set to N>=2, only 1 out of N observations will be saved to m_objList.

Definition at line 137 of file CGenericSensor.h.

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

◆ m_grab_decimation_counter

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

Used when "m_grab_decimation" is enabled.

Definition at line 144 of file CGenericSensor.h.

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

◆ m_max_queue_len

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

See CGenericSensor.

Definition at line 134 of file CGenericSensor.h.

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

◆ m_maxRange

float mrpt::hwdrivers::CBoardSonars::m_maxRange
protected

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

Definition at line 101 of file CBoardSonars.h.

◆ m_minTimeBetweenPings

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

The minimum time between sonar pings (in seconds).

Definition at line 122 of file CBoardSonars.h.

◆ m_path_for_external_images

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

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

Definition at line 153 of file CGenericSensor.h.

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

◆ m_process_rate

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

◆ m_readBuffer

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

◆ m_sensorLabel

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

See CGenericSensor.

Definition at line 139 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CCANBusReader::CCANBusReader(), mrpt::hwdrivers::CGPSInterface::CGPSInterface(), mrpt::hwdrivers::CGyroKVHDSP3000::CGyroKVHDSP3000(), mrpt::hwdrivers::CHokuyoURG::CHokuyoURG(), 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::CSkeletonTracker::doProcess(), mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CCANBusReader::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::CKinect::getNextObservation(), mrpt::hwdrivers::CVelodyneScanner::getNextObservation(), mrpt::hwdrivers::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 113 of file CBoardSonars.h.

◆ m_sonarPoses

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

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

Definition at line 118 of file CBoardSonars.h.

◆ m_state

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

◆ m_usbSerialNumber

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

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

Definition at line 92 of file CBoardSonars.h.

◆ m_verbose

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



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