MRPT  1.9.9
List of all members | Public Types | Public Member Functions | Static Public Member Functions | Protected Member Functions | Protected Attributes | Private Member Functions | Private Attributes
mrpt::hwdrivers::CCANBusReader Class Referenceabstract

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 57 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 >
 
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

 CCANBusReader ()
 Constructor. More...
 
 ~CCANBusReader () override
 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 () override
 Set-up communication with the laser. More...
 
void doProcess () override
 This method will be invoked at a minimum rate of "process_rate" (Hz) 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...
 
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 std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > & logging_levels_to_colors ()
 Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor. More...
 
static std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > & logging_levels_to_names ()
 Map from VerbosityLevels to their corresponding names. More...
 
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

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

VerbosityLevel m_min_verbosity_level {LVL_INFO}
 Provided messages with VerbosityLevel smaller than this value shall be ignored. 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...
 

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::CSerialPortm_mySerialPort {nullptr}
 Will be !=nullptr only if I created it, so I must destroy it at the end. More...
 
int m_com_baudRate {57600}
 Baudrate: 9600, 38400, 500000. More...
 
unsigned int m_nTries_connect {1}
 Default = 1. More...
 
unsigned int m_nTries_current {0}
 
int m_canbus_speed {250000}
 
bool m_canreader_timestamp {false}
 
bool m_CANBusChannel_isOpen
 

Logging methods

void logStr (const VerbosityLevel level, std::string_view msg_str) const
 Main method to add the specified message string to the logger. More...
 
void logFmt (const VerbosityLevel level, const char *fmt,...) const MRPT_printf_format_check(3
 Alternative logging method, which mimics the printf behavior. More...
 
void void logCond (const VerbosityLevel level, bool cond, const std::string &msg_str) const
 Log the given message only if the condition is satisfied. More...
 
void setLoggerName (const std::string &name)
 Set the name of the COutputLogger instance. More...
 
std::string getLoggerName () const
 Return the name of the COutputLogger instance. More...
 
void setMinLoggingLevel (const VerbosityLevel level)
 Set the minimum logging level for which the incoming logs are going to be taken into account. More...
 
void setVerbosityLevel (const VerbosityLevel level)
 alias of setMinLoggingLevel() More...
 
VerbosityLevel getMinLoggingLevel () const
 
bool isLoggingLevelVisible (VerbosityLevel level) const
 
void getLogAsString (std::string &log_contents) const
 Fill the provided string with the contents of the logger's history in std::string representation. More...
 
std::string getLogAsString () const
 Get the history of COutputLogger instance in a string representation. More...
 
void writeLogToFile (const std::string *fname_in=nullptr) const
 Write the contents of the COutputLogger instance to an external file. More...
 
void dumpLogToConsole () const
 Dump the current contents of the COutputLogger instance in the terminal window. More...
 
std::string getLoggerLastMsg () const
 Return the last Tmsg instance registered in the logger history. More...
 
void getLoggerLastMsg (std::string &msg_str) const
 Fill inputtted string with the contents of the last message in history. More...
 
void loggerReset ()
 Reset the contents of the logger instance. More...
 
void logRegisterCallback (output_logger_callback_t userFunc)
 
bool logDeregisterCallback (output_logger_callback_t userFunc)
 
bool logging_enable_console_output {true}
 [Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically. More...
 
bool logging_enable_keep_record {false}
 [Default=false] Enables storing all messages into an internal list. 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

◆ 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

◆ CCANBusReader()

CCANBusReader::CCANBusReader ( )

Constructor.

Definition at line 54 of file CCANBusReader.cpp.

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

◆ ~CCANBusReader()

CCANBusReader::~CCANBusReader ( )
override

Destructor.

Definition at line 65 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::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(), 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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◆ CANBusAutoPoll()

bool CCANBusReader::CANBusAutoPoll ( )
private

Definition at line 350 of file CCANBusReader.cpp.

References sendCommandToCANReader(), and waitACK().

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◆ CANBusCloseChannel()

bool CCANBusReader::CANBusCloseChannel ( )
private

Closes the CAN Channel.

Definition at line 339 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 330 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 367 of file CCANBusReader.cpp.

References sendCommandToCANReader(), and waitACK().

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◆ CANBusX1()

bool CCANBusReader::CANBusX1 ( )
private

Definition at line 358 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:

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 CCANBusReader::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 85 of file CCANBusReader.cpp.

References mrpt::hwdrivers::CGenericSensor::appendObservation(), mrpt::obs::CObservationCANBusJ1939::Create(), 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 102 of file CCANBusReader.cpp.

References mrpt::obs::CObservationCANBusJ1939::m_data, mrpt::obs::CObservationCANBusJ1939::m_data_length, mrpt::obs::CObservationCANBusJ1939::m_pdu_format, mrpt::obs::CObservationCANBusJ1939::m_pdu_spec, mrpt::obs::CObservationCANBusJ1939::m_pgn, mrpt::obs::CObservationCANBusJ1939::m_priority, mrpt::obs::CObservationCANBusJ1939::m_raw_frame, mrpt::hwdrivers::CGenericSensor::m_sensorLabel, mrpt::obs::CObservationCANBusJ1939::m_src_address, mrpt::hwdrivers::CGenericSensor::m_state, mrpt::system::now(), mrpt::obs::CObservation::sensorLabel, mrpt::hwdrivers::CGenericSensor::ssWorking, mrpt::obs::CObservation::timestamp, tryToOpenComms(), and waitContinuousSampleFrame().

Referenced by doProcess().

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◆ dumpLogToConsole()

void COutputLogger::dumpLogToConsole ( ) const
inherited

Dump the current contents of the COutputLogger instance in the terminal window.

See also
writeToFile

Definition at line 190 of file COutputLogger.cpp.

◆ 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.

◆ getBaudRate()

int mrpt::hwdrivers::CCANBusReader::getBaudRate ( ) const
inline
See also
setBaudRate

Definition at line 133 of file CCANBusReader.h.

References m_com_baudRate.

◆ getCANReaderSpeed()

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

Definition at line 147 of file CCANBusReader.h.

References m_canbus_speed.

◆ getCANReaderTimeStamping()

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

Definition at line 143 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 150 of file CCANBusReader.h.

References m_nTries_current.

◆ getExternalImageJPEGQuality()

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

◆ getLogAsString() [1/2]

void COutputLogger::getLogAsString ( std::string log_contents) const
inherited

Fill the provided string with the contents of the logger's history in std::string representation.

Definition at line 154 of file COutputLogger.cpp.

◆ getLogAsString() [2/2]

std::string COutputLogger::getLogAsString ( ) const
inherited

Get the history of COutputLogger instance in a string representation.

Definition at line 159 of file COutputLogger.cpp.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::getDescriptiveReport().

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◆ getLoggerLastMsg() [1/2]

std::string COutputLogger::getLoggerLastMsg ( ) const
inherited

Return the last Tmsg instance registered in the logger history.

Definition at line 195 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::getAsString().

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◆ getLoggerLastMsg() [2/2]

void COutputLogger::getLoggerLastMsg ( std::string msg_str) const
inherited

Fill inputtted string with the contents of the last message in history.

Definition at line 201 of file COutputLogger.cpp.

◆ getLoggerName()

std::string COutputLogger::getLoggerName ( ) const
inherited

Return the name of the COutputLogger instance.

See also
setLoggerName

Definition at line 143 of file COutputLogger.cpp.

◆ getMinLoggingLevel()

VerbosityLevel mrpt::system::COutputLogger::getMinLoggingLevel ( ) const
inlineinherited
See also
setMinLoggingLevel

Definition at line 201 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::apps::RawlogGrabberApp::dump_verbose_info(), mrpt::maps::CRandomFieldGridMap2D::isEnabledVerbose(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::apps::CGridMapAlignerApp::run(), and mrpt::apps::ICP_SLAM_App_Base::run().

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◆ 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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◆ 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.

◆ getSerialPort()

std::string mrpt::hwdrivers::CCANBusReader::getSerialPort ( ) const
inline
See also
setSerialPort

Definition at line 126 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 91 of file CGenericSensor.h.

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

◆ initialize()

void CCANBusReader::initialize ( )
overridevirtual

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 482 of file CCANBusReader.cpp.

References m_received_frame_buffer, and tryToOpenComms().

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◆ isLoggingLevelVisible()

bool mrpt::system::COutputLogger::isLoggingLevelVisible ( VerbosityLevel  level) const
inlineinherited

Definition at line 202 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper().

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◆ isVerboseEnabled()

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

Definition at line 105 of file CGenericSensor.h.

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

◆ 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 CCANBusReader::loadConfig_sensorSpecific ( const mrpt::config::CConfigFileBase configSource,
const std::string iniSection 
)
overrideprotectedvirtual

See the class documentation at the top for expected parameters.

Implements mrpt::hwdrivers::CGenericSensor.

Definition at line 157 of file CCANBusReader.cpp.

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

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◆ logCond()

void COutputLogger::logCond ( const VerbosityLevel  level,
bool  cond,
const std::string msg_str 
) const
inherited

Log the given message only if the condition is satisfied.

See also
log, logFmt

Definition at line 131 of file COutputLogger.cpp.

◆ logDeregisterCallback()

bool COutputLogger::logDeregisterCallback ( output_logger_callback_t  userFunc)
inherited
Returns
true if an entry was found and deleted.

Definition at line 291 of file COutputLogger.cpp.

References getAddress(), and mrpt::system::COutputLogger::m_listCallbacks.

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◆ logFmt()

void COutputLogger::logFmt ( const VerbosityLevel  level,
const char *  fmt,
  ... 
) const
inherited

◆ loggerReset()

void COutputLogger::loggerReset ( )
inherited

Reset the contents of the logger instance.

Called upon construction.

Definition at line 206 of file COutputLogger.cpp.

References mrpt::system::LVL_INFO.

◆ logging_levels_to_colors()

std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_colors ( )
staticinherited

Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor.

Handy for coloring the input based on the verbosity of the message

Definition at line 47 of file COutputLogger.cpp.

References logging_levels_to_colors.

Referenced by mrpt::system::COutputLogger::TMsg::dumpToConsole().

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◆ logging_levels_to_names()

std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_names ( )
staticinherited

Map from VerbosityLevels to their corresponding names.

Handy for printing the current message VerbosityLevel along with the actual content

Definition at line 60 of file COutputLogger.cpp.

References logging_levels_to_names.

Referenced by mrpt::system::COutputLogger::TMsg::getAsString().

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◆ logRegisterCallback()

void COutputLogger::logRegisterCallback ( output_logger_callback_t  userFunc)
inherited

Definition at line 278 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::m_listCallbacks.

◆ logStr()

void COutputLogger::logStr ( const VerbosityLevel  level,
std::string_view  msg_str 
) const
inherited

Main method to add the specified message string to the logger.

See also
logCond, logFmt

Definition at line 72 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::body, mrpt::system::COutputLogger::TMsg::dumpToConsole(), mrpt::system::COutputLogger::TMsg::level, mrpt::system::COutputLogger::TMsg::name, and mrpt::system::COutputLogger::TMsg::timestamp.

Referenced by mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper(), and mrpt::system::CTimeLoggerSaveAtDtor::~CTimeLoggerSaveAtDtor().

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◆ queryVersion()

bool CCANBusReader::queryVersion ( bool  printOutVersion = false)
private

Definition at line 575 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 115 of file CGenericSensor.cpp.

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

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◆ sendCANBusReaderSpeed()

bool CCANBusReader::sendCANBusReaderSpeed ( )
private

Sends the specified speed to the CAN Converter.

Definition at line 287 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 718 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 131 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 146 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 139 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 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.

◆ setLoggerName()

void COutputLogger::setLoggerName ( const std::string name)
inherited

◆ setMinLoggingLevel()

void COutputLogger::setMinLoggingLevel ( const VerbosityLevel  level)
inherited

Set the minimum logging level for which the incoming logs are going to be taken into account.

String messages with specified VerbosityLevel smaller than the min, will not be outputted to the screen and neither will a record of them be stored in by the COutputLogger instance

Definition at line 144 of file COutputLogger.cpp.

Referenced by mrpt::maps::CRandomFieldGridMap2D::enableVerbose(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), generic_kf_slam_test(), mrpt::apps::RawlogGrabberApp::initialize(), mrpt::hwdrivers::CHokuyoURG::initialize(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams(), and mrpt::apps::CGridMapAlignerApp::run().

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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.

◆ 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 124 of file CCANBusReader.h.

References m_com_port.

◆ setupSerialComms()

bool CCANBusReader::setupSerialComms ( )
private

Definition at line 497 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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◆ setVerbosityLevel()

void COutputLogger::setVerbosityLevel ( const VerbosityLevel  level)
inherited

◆ 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 193 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 588 of file CCANBusReader.cpp.

References mrpt::format(), m_mySerialPort, mrpt::comms::CSerialPort::Read(), RET_ERROR, mrpt::system::CTicTac::Tac(), and mrpt::system::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 378 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 615 of file CCANBusReader.cpp.

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

Referenced by queryVersion().

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◆ waitIncomingFrame()

bool CCANBusReader::waitIncomingFrame ( uint16_t  timeout)
private

Definition at line 666 of file CCANBusReader.cpp.

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

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◆ writeLogToFile()

void COutputLogger::writeLogToFile ( const std::string fname_in = nullptr) const
inherited

Write the contents of the COutputLogger instance to an external file.

Upon call to this method, COutputLogger dumps the contents of all the logged commands so far to the specified external file. By default the filename is set to ${LOGGERNAME}.log except if the fname parameter is provided

See also
dumpToConsole, getAsString

Definition at line 165 of file COutputLogger.cpp.

References ASSERTMSG_, and mrpt::format().

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Member Data Documentation

◆ logging_enable_console_output

bool mrpt::system::COutputLogger::logging_enable_console_output {true}
inherited

[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically.

Definition at line 240 of file system/COutputLogger.h.

◆ logging_enable_keep_record

bool mrpt::system::COutputLogger::logging_enable_keep_record {false}
inherited

[Default=false] Enables storing all messages into an internal list.

See also
writeLogToFile, getLogAsString

Definition at line 243 of file system/COutputLogger.h.

◆ m_canbus_speed

int mrpt::hwdrivers::CCANBusReader::m_canbus_speed {250000}
private

◆ m_CANBusChannel_isOpen

bool mrpt::hwdrivers::CCANBusReader::m_CANBusChannel_isOpen
private
Initial value:
{
false}

Definition at line 104 of file CCANBusReader.h.

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

◆ m_canreader_timestamp

bool mrpt::hwdrivers::CCANBusReader::m_canreader_timestamp {false}
private

◆ m_com_baudRate

int mrpt::hwdrivers::CCANBusReader::m_com_baudRate {57600}
private

Baudrate: 9600, 38400, 500000.

Definition at line 98 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 93 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 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_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_min_verbosity_level

VerbosityLevel mrpt::system::COutputLogger::m_min_verbosity_level {LVL_INFO}
protectedinherited

Provided messages with VerbosityLevel smaller than this value shall be ignored.

Definition at line 253 of file system/COutputLogger.h.

Referenced by mrpt::system::COutputLogger::getMinLoggingLevel(), and mrpt::system::COutputLogger::isLoggingLevelVisible().

◆ m_mySerialPort

mrpt::comms::CSerialPort* mrpt::hwdrivers::CCANBusReader::m_mySerialPort {nullptr}
private

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

Definition at line 96 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 {1}
private

Default = 1.

Definition at line 100 of file CCANBusReader.h.

Referenced by loadConfig_sensorSpecific(), and setupSerialComms().

◆ m_nTries_current

unsigned int mrpt::hwdrivers::CCANBusReader::m_nTries_current {0}
private

Definition at line 101 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 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_received_frame_buffer

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

Definition at line 88 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 139 of file CGenericSensor.h.

Referenced by 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(), 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_state

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

◆ m_verbose

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



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