MRPT  1.9.9
mrpt::hwdrivers::CGenericSensor Class Referenceabstract

Detailed Description

A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabber.

Derived classes should be designed with the following execution flow in mind:

  • Object constructor
  • CGenericSensor::loadConfig: The following parameters are common to all sensors in rawlog-grabber (they are automatically loaded by rawlog-grabber) - see each class documentation for additional parameters:
    • "process_rate": (Mandatory) The rate in Hertz (Hz) at which the sensor thread should invoke "doProcess".
    • "max_queue_len": (Optional) The maximum number of objects in the observations queue (default is 200). If overflow occurs, an error message will be issued at run-time.
    • "grab_decimation": (Optional) Grab only 1 out of N observations captured by the sensor (default is 1, i.e. do not decimate).
  • CGenericSensor::initialize
  • CGenericSensor::doProcess
  • CGenericSensor::getObservations

Notice that there are helper methods for managing the internal list of objects (see CGenericSensor::appendObservation).

Class Factory: This is also a factory of derived classes, through the static method CGenericSensor::createSensor

For more details on RawLogGrabber refer to the wiki page: https://www.mrpt.org/Application:RawLogGrabber

Definition at line 69 of file CGenericSensor.h.

#include <mrpt/hwdrivers/CGenericSensor.h>

Inheritance diagram for mrpt::hwdrivers::CGenericSensor:

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

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
 
 CGenericSensor ()
 Constructor. More...
 
 CGenericSensor (const CGenericSensor &)=delete
 
CGenericSensoroperator= (const CGenericSensor &)=delete
 
virtual ~CGenericSensor ()
 Destructor. More...
 
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...
 
virtual void doProcess ()=0
 This method will be invoked at a minimum rate of "process_rate" (Hz) More...
 
void getObservations (TListObservations &lstObjects)
 Returns a list of enqueued objects, emptying it (thread-safe). More...
 
virtual void setPathForExternalImages (const std::string &directory)
 Set the path where to save off-rawlog image files (will be ignored in those sensors where this is not applicable). More...
 
void setExternalImageFormat (const std::string &ext)
 Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg". More...
 
void setExternalImageJPEGQuality (const unsigned int quality)
 The quality of JPEG compression, when external images is enabled and the format is "jpg". More...
 
unsigned int getExternalImageJPEGQuality () const
 

Static Public Member Functions

static void registerClass (const TSensorClassId *pNewClass)
 Register a class into the internal list of "CGenericSensor" descendents. More...
 
static CGenericSensorcreateSensor (const std::string &className)
 Creates a sensor by a name of the class. More...
 
static CGenericSensor::Ptr createSensorPtr (const std::string &className)
 Just like createSensor, but returning a smart pointer to the newly created sensor object. More...
 

Protected Member Functions

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...
 
virtual void loadConfig_sensorSpecific (const mrpt::config::CConfigFileBase &configSource, const std::string &section)=0
 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) More...
 

Protected Attributes

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 Types

using registered_sensor_classes_t = std::map< std::string, const TSensorClassId * >
 Used in registerClass. More...
 

Static Private Member Functions

static registered_sensor_classes_tget_registered_sensor_classes ()
 Access to singleton. More...
 

Private Attributes

std::mutex m_csObjList
 The critical section for m_objList. More...
 
TListObservations m_objList
 The queue of objects to be returned by getObservations. More...
 

Member Typedef Documentation

◆ Ptr

◆ registered_sensor_classes_t

Used in registerClass.

Definition at line 123 of file CGenericSensor.h.

◆ TListObservations

◆ TListObsPair

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

◆ CGenericSensor() [1/2]

CGenericSensor::CGenericSensor ( )

Constructor.

Definition at line 25 of file CGenericSensor.cpp.

References m_verbose.

◆ CGenericSensor() [2/2]

mrpt::hwdrivers::CGenericSensor::CGenericSensor ( const CGenericSensor )
delete

◆ ~CGenericSensor()

CGenericSensor::~CGenericSensor ( )
virtual

Destructor.

Definition at line 39 of file CGenericSensor.cpp.

References m_objList.

Member Function Documentation

◆ appendObservation()

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

Like appendObservations() but for just one observation.

Definition at line 178 of file CGenericSensor.h.

References 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)
protected

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, m_csObjList, m_grab_decimation, m_grab_decimation_counter, m_objList, and THROW_EXCEPTION.

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

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◆ createSensor()

CGenericSensor * CGenericSensor::createSensor ( const std::string className)
static

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 get_registered_sensor_classes().

Referenced by createSensorPtr().

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◆ createSensorPtr()

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

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

Definition at line 208 of file CGenericSensor.h.

References createSensor().

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

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◆ doProcess()

◆ enableVerbose()

void mrpt::hwdrivers::CGenericSensor::enableVerbose ( bool  enabled = true)
inline

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 m_verbose.

◆ get_registered_sensor_classes()

CGenericSensor::registered_sensor_classes_t & CGenericSensor::get_registered_sensor_classes ( )
staticprivate

Access to singleton.

Definition at line 106 of file CGenericSensor.cpp.

Referenced by createSensor(), and registerClass().

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◆ getExternalImageJPEGQuality()

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

Definition at line 278 of file CGenericSensor.h.

References m_external_images_jpeg_quality.

◆ getObservations()

void CGenericSensor::getObservations ( TListObservations lstObjects)

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 m_csObjList, and m_objList.

Referenced by TEST().

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◆ getProcessRate()

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

Definition at line 92 of file CGenericSensor.h.

References m_process_rate.

◆ GetRuntimeClass()

virtual const mrpt::hwdrivers::TSensorClassId* mrpt::hwdrivers::CGenericSensor::GetRuntimeClass ( ) const
pure virtual

◆ getSensorLabel()

std::string mrpt::hwdrivers::CGenericSensor::getSensorLabel ( ) const
inline

Definition at line 93 of file CGenericSensor.h.

References m_sensorLabel.

◆ getState()

TSensorState mrpt::hwdrivers::CGenericSensor::getState ( ) const
inline

The current state of the sensor.

Definition at line 91 of file CGenericSensor.h.

References m_state.

◆ initialize()

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

◆ isVerboseEnabled()

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

Definition at line 105 of file CGenericSensor.h.

References m_verbose.

◆ loadConfig()

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

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 loadConfig_sensorSpecific(), m_grab_decimation, m_grab_decimation_counter, m_max_queue_len, m_process_rate, 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()

virtual void mrpt::hwdrivers::CGenericSensor::loadConfig_sensorSpecific ( const mrpt::config::CConfigFileBase configSource,
const std::string section 
)
protectedpure virtual

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)

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

Implemented in mrpt::hwdrivers::CCameraSensor, mrpt::hwdrivers::CKinect, mrpt::hwdrivers::CNationalInstrumentsDAQ, mrpt::hwdrivers::COpenNI2Sensor, mrpt::hwdrivers::CHokuyoURG, mrpt::hwdrivers::COpenNI2_RGBD360, mrpt::hwdrivers::CGPSInterface, mrpt::hwdrivers::CVelodyneScanner, mrpt::hwdrivers::CSwissRanger3DCamera, mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors, mrpt::hwdrivers::CLMS100Eth, mrpt::hwdrivers::CBoardSonars, mrpt::hwdrivers::CSickLaserSerial, mrpt::hwdrivers::CCANBusReader, mrpt::hwdrivers::CSICKTim561Eth, mrpt::hwdrivers::CIbeoLuxETH, mrpt::hwdrivers::CRoboPeakLidar, mrpt::hwdrivers::CGyroKVHDSP3000, mrpt::hwdrivers::CSkeletonTracker, mrpt::hwdrivers::CIMUIntersense, mrpt::hwdrivers::CGPS_NTRIP, mrpt::hwdrivers::CBoardENoses, mrpt::hwdrivers::CEnoseModular, mrpt::hwdrivers::CImpinjRFID, mrpt::hwdrivers::CNTRIPEmitter, mrpt::hwdrivers::CSickLaserUSB, mrpt::hwdrivers::CIMUXSens, mrpt::hwdrivers::CIMUXSens_MT4, mrpt::hwdrivers::CRaePID, mrpt::hwdrivers::CGillAnemometer, and mrpt::hwdrivers::CWirelessPower.

Referenced by loadConfig().

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◆ operator=()

CGenericSensor& mrpt::hwdrivers::CGenericSensor::operator= ( const CGenericSensor )
delete

◆ registerClass()

void CGenericSensor::registerClass ( const TSensorClassId pNewClass)
static

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 get_registered_sensor_classes().

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◆ setExternalImageFormat()

void mrpt::hwdrivers::CGenericSensor::setExternalImageFormat ( const std::string ext)
inline

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 267 of file CGenericSensor.h.

References m_external_images_format.

◆ setExternalImageJPEGQuality()

void mrpt::hwdrivers::CGenericSensor::setExternalImageJPEGQuality ( const unsigned int  quality)
inline

The quality of JPEG compression, when external images is enabled and the format is "jpg".

See also
setExternalImageFormat

Definition at line 274 of file CGenericSensor.h.

References m_external_images_jpeg_quality.

◆ setPathForExternalImages()

virtual void mrpt::hwdrivers::CGenericSensor::setPathForExternalImages ( const std::string directory)
inlinevirtual

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 256 of file CGenericSensor.h.

References MRPT_UNUSED_PARAM.

◆ setSensorLabel()

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

Definition at line 94 of file CGenericSensor.h.

References m_sensorLabel.

Member Data Documentation

◆ m_csObjList

std::mutex mrpt::hwdrivers::CGenericSensor::m_csObjList
private

The critical section for m_objList.

Definition at line 117 of file CGenericSensor.h.

Referenced by appendObservations(), and getObservations().

◆ m_external_images_format

std::string mrpt::hwdrivers::CGenericSensor::m_external_images_format
protected

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 setExternalImageFormat().

◆ m_external_images_jpeg_quality

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

◆ m_grab_decimation

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

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 appendObservations(), and loadConfig().

◆ m_grab_decimation_counter

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

Used when "m_grab_decimation" is enabled.

Definition at line 144 of file CGenericSensor.h.

Referenced by appendObservations(), and loadConfig().

◆ m_max_queue_len

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

See CGenericSensor.

Definition at line 134 of file CGenericSensor.h.

Referenced by loadConfig().

◆ m_objList

TListObservations mrpt::hwdrivers::CGenericSensor::m_objList
private

The queue of objects to be returned by getObservations.

Definition at line 119 of file CGenericSensor.h.

Referenced by appendObservations(), getObservations(), and ~CGenericSensor().

◆ m_path_for_external_images

std::string mrpt::hwdrivers::CGenericSensor::m_path_for_external_images
protected

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}
protected

◆ m_sensorLabel

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

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(), getSensorLabel(), mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread(), loadConfig(), mrpt::hwdrivers::CSkeletonTracker::processPreview(), mrpt::hwdrivers::C2DRangeFinderAbstract::processPreview(), mrpt::hwdrivers::CSkeletonTracker::processPreviewNone(), and setSensorLabel().

◆ m_state

◆ m_verbose




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