MRPT  1.9.9
mrpt::hwdrivers::CHokuyoURG Class Referenceabstract

Detailed Description

This software driver implements the protocol SCIP-2.0 for interfacing HOKUYO URG/UTM/UXM/UST laser scanners (USB or Ethernet).

Refer to the example code HOKUYO_laser_test and to example rawlog-grabber config files

See also the application "rawlog-grabber" for a ready-to-use application to gather data from the scanner.

PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
-------------------------------------------------------
[supplied_section_name]
HOKUYO_motorSpeed_rpm=600
#HOKUYO_HS_mode = false // Optional (un-comment line if used):
Set/unset the High-sensitivity mode (not on all models/firmwares!)
# Uncomment serial port or IP address, depending on the Hokuyo model
(serial/USB vs. Ethernet):
COM_port_WIN = COM3 // Serial port name in Windows
COM_port_LIN = ttyS0 // Serial port name in GNU/Linux
#IP_DIR = 192.168.0.10 // Uncommented this and "PORT_DIR" if the
used HOKUYO is connected by Ethernet instead of USB
#PORT_DIR = 10940 // Default value: 10940
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
#disable_firmware_timestamp = true // Uncomment to use PC time instead
of laser time
# Optional: reduced FOV:
# reduced_fov = 25 // Deg
# Sets decimation of scans directly at the Hokuyo scanner.
# 0=means send all scans, 1=means send 50% of scans, etc.
# scan_interval = 0
#preview = true // Enable GUI visualization of captured data
# Optional: Exclusion zones to avoid the robot seeing itself:
#exclusionZone1_x = 0.20 0.30 0.30 0.20
#exclusionZone1_y = 0.20 0.30 0.30 0.20
# Optional: Exclusion zones to avoid the robot seeing itself:
#exclusionAngles1_ini = 20 // Deg
#exclusionAngles1_end = 25 // Deg

Definition at line 74 of file CHokuyoURG.h.

#include <mrpt/hwdrivers/CHokuyoURG.h>

Inheritance diagram for mrpt::hwdrivers::CHokuyoURG:

Classes

struct  TSensorInfo
 Used in CHokuyoURG::displayVersionInfo. More...
 

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

 CHokuyoURG ()
 Constructor. More...
 
 ~CHokuyoURG () override
 Destructor: turns the laser off. More...
 
void doProcessSimple (bool &outThereIsObservation, mrpt::obs::CObservation2DRangeScan &outObservation, bool &hardwareError) override
 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...
 
bool turnOn () override
 Enables the scanning mode (which may depend on the specific laser device); this must be called before asking for observations to assure that the protocol has been initializated. More...
 
bool turnOff () override
 Disables the scanning mode (this can be used to turn the device in low energy mode, if available) More...
 
void purgeBuffers ()
 Empties the RX buffers of the serial port. More...
 
void setSerialPort (const std::string &port_name)
 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...
 
void setIPandPort (const std::string &ip, const unsigned int &port)
 Set the ip direction and port to connect using Ethernet communication. More...
 
const std::string getSerialPort ()
 Returns the currently set serial port. More...
 
void setReducedFOV (const double fov)
 If called (before calling "turnOn"), the field of view of the laser is reduced to the given range (in radians), discarding the rest of measures. More...
 
bool setHighSensitivityMode (bool enabled)
 Changes the high sensitivity mode (HS) (default: false) More...
 
bool setIntensityMode (bool enabled)
 If true scans will capture intensity. More...
 
void setScanInterval (unsigned int skipScanCount)
 Set the skip scan count (0 means send all scans). More...
 
unsigned int getScanInterval () const
 
void sendCmd (const char *str)
 
void showPreview (bool enable=true)
 Enables GUI visualization in real-time. More...
 
void bindIO (mrpt::io::CStream *streamIO)
 Binds the object to a given I/O channel. More...
 
void getObservation (bool &outThereIsObservation, mrpt::obs::CObservation2DRangeScan &outObservation, bool &hardwareError)
 Get the last observation from the sensor, if available, and unmarks it as being "the last one" (thus a new scan must arrive or subsequent calls will find no new observations). More...
 
void doProcess () override
 Main method for a CGenericSensor. More...
 
double getEstimatedScanPeriod () const
 Returns the empirical, filtered estimation for the period at which whole scans are being returned from calls to doProcessSimple() 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 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

bool ensureStreamIsOpen ()
 Returns true if there is a valid stream bound to the laser scanner, otherwise it first try to open the serial port "m_com_port". More...
 
void closeStreamConnection ()
 Called upon dtor, or when trying to recover from a disconnected sensor. More...
 
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 loadCommonParams (const mrpt::config::CConfigFileBase &configSource, const std::string &iniSection)
 Should be call by derived classes at "loadConfig" (loads exclusion areas AND exclusion angles). More...
 
void filterByExclusionAreas (mrpt::obs::CObservation2DRangeScan &obs) const
 Mark as invalid those points which (x,y) coordinates fall within the exclusion polygons. More...
 
void filterByExclusionAngles (mrpt::obs::CObservation2DRangeScan &obs) const
 Mark as invalid those ranges in a set of forbiden angle ranges. More...
 
void processPreview (const mrpt::obs::CObservation2DRangeScan &obs)
 Must be called inside the capture method to allow optional GUI preview of scans. More...
 
void internal_notifyGoodScanNow ()
 Must be called from doProcessSimple() implementations. More...
 
bool internal_notifyNoScanReceived ()
 Must be called from doProcessSimple() implementations. 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

std::string m_rcv_data
 temp buffer for incoming data packets More...
 
double m_reduced_fov {0}
 Used to reduce artificially the interval of scan ranges. More...
 
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...
 
std::string m_ip_dir {}
 If set to non-empty and m_port_dir too, the program will try to connect to a Hokuyo using Ethernet communication. More...
 
unsigned int m_port_dir {10940}
 If set to non-empty and m_ip_dir too, the program will try to connect to a Hokuyo using Ethernet communication. More...
 
TSensorInfo m_sensor_info
 The information gathered when the laser is first open. More...
 
bool m_I_am_owner_serial_port {false}
 
uint32_t m_timeStartUI {0}
 Time of the first data packet, for synchronization purposes. More...
 
int m_timeStartSynchDelay {0}
 Counter to discard to first few packets before setting the correspondence between device and computer timestamps. More...
 
mrpt::system::TTimeStamp m_timeStartTT
 
bool m_disable_firmware_timestamp {false}
 
bool m_intensity {false}
 Get intensity from lidar scan (default: false) More...
 
unsigned int m_scan_interval {0}
 
mrpt::io::CStreamm_stream {nullptr}
 The I/O channel (will be nullptr if not bound). More...
 
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 enableSCIP20 ()
 Enables the SCIP2.0 protocol (this must be called at the very begining!). More...
 
bool setHighBaudrate ()
 Passes to 115200bps bitrate. More...
 
bool switchLaserOn ()
 Switchs the laser on. More...
 
bool switchLaserOff ()
 Switchs the laser off. More...
 
bool setMotorSpeed (int motoSpeed_rpm)
 Changes the motor speed in rpm's (default 600rpm) More...
 
bool displayVersionInfo ()
 Ask to the device, and print to the debug stream, details about the firmware version,serial number,... More...
 
bool displaySensorInfo (CHokuyoURG::TSensorInfo *out_data=nullptr)
 Ask to the device, and print to the debug stream, details about the sensor model. More...
 
bool startScanningMode ()
 Start the continuous scanning mode, using parameters stored in the object (loaded from the .ini file). More...
 
void initialize () override
 Turns the laser on. More...
 
bool receiveResponse (char &rcv_status0, char &rcv_status1)
 Waits for a response from the device. More...
 
bool assureBufferHasBytes (const size_t nDesiredBytes)
 Assures a minimum number of bytes in the input buffer, reading from the serial port only if required. More...
 

Private Attributes

int m_firstRange {44}
 The first and last ranges to consider from the scan. More...
 
int m_lastRange {725}
 
int m_motorSpeed_rpm {0}
 The motor speed (default=600rpm) More...
 
poses::CPose3D m_sensorPose {0, 0, 0, 0, 0, 0}
 The sensor 6D pose: More...
 
mrpt::containers::circular_buffer< uint8_t > m_rx_buffer
 Auxiliary buffer for readings. More...
 
std::string m_lastSentMeasCmd
 The last sent measurement command (MDXXX), including the last 0x0A. More...
 
bool m_highSensMode {false}
 High sensitivity [HS] mode (default: false) More...
 
mrpt::gui::CDisplayWindow3D::Ptr m_win
 

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

◆ 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

◆ CHokuyoURG()

CHokuyoURG::CHokuyoURG ( )

Constructor.

Definition at line 30 of file CHokuyoURG.cpp.

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

◆ ~CHokuyoURG()

CHokuyoURG::~CHokuyoURG ( )
override

Destructor: turns the laser off.

Definition at line 32 of file CHokuyoURG.cpp.

References closeStreamConnection(), mrpt::exception_to_str(), and m_win.

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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(), 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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◆ assureBufferHasBytes()

bool CHokuyoURG::assureBufferHasBytes ( const size_t  nDesiredBytes)
private

Assures a minimum number of bytes in the input buffer, reading from the serial port only if required.

Returns
false if the number of bytes are not available, even after trying to fetch more data from the serial port.

Definition at line 425 of file CHokuyoURG.cpp.

References ASSERT_, mrpt::containers::circular_buffer< T >::available(), mrpt::containers::circular_buffer< T >::capacity(), m_ip_dir, m_rx_buffer, mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream, mrpt::containers::circular_buffer< T >::push_many(), mrpt::io::CStream::Read(), mrpt::comms::CClientTCPSocket::readAsync(), and mrpt::containers::circular_buffer< T >::size().

Referenced by receiveResponse().

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◆ bindIO()

void C2DRangeFinderAbstract::bindIO ( mrpt::io::CStream streamIO)
inherited

Binds the object to a given I/O channel.

The stream object must not be deleted before the destruction of this class.

See also
comms::CSerialPort

Definition at line 37 of file C2DRangeFinderAbstract.cpp.

References mrpt::hwdrivers::C2DRangeFinderAbstract::m_csChangeStream, and mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream.

Referenced by ensureStreamIsOpen().

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◆ closeStreamConnection()

void CHokuyoURG::closeStreamConnection ( )
protected

Called upon dtor, or when trying to recover from a disconnected sensor.

Definition at line 45 of file CHokuyoURG.cpp.

References m_I_am_owner_serial_port, mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream, and turnOff().

Referenced by doProcessSimple(), and ~CHokuyoURG().

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

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

Definition at line 208 of file CGenericSensor.h.

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

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

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◆ displaySensorInfo()

bool CHokuyoURG::displaySensorInfo ( CHokuyoURG::TSensorInfo out_data = nullptr)
private

Ask to the device, and print to the debug stream, details about the sensor model.

It also optionally saves all the information in an user supplied data structure "out_data".

Returns
false on any error

Definition at line 780 of file CHokuyoURG.cpp.

References __CURRENT_FUNCTION_NAME__, mrpt::hwdrivers::CHokuyoURG::TSensorInfo::d_max, mrpt::hwdrivers::CHokuyoURG::TSensorInfo::d_min, ensureStreamIsOpen(), m_rcv_data, mrpt::system::os::memcpy(), mrpt::hwdrivers::CHokuyoURG::TSensorInfo::model, mrpt::hwdrivers::CHokuyoURG::TSensorInfo::motor_speed_rpm, MRPT_LOG_DEBUG, MRPT_LOG_ERROR, MRPT_LOG_ERROR_STREAM, MRPT_LOG_INFO_STREAM, receiveResponse(), mrpt::hwdrivers::CHokuyoURG::TSensorInfo::scan_first, mrpt::hwdrivers::CHokuyoURG::TSensorInfo::scan_front, mrpt::hwdrivers::CHokuyoURG::TSensorInfo::scan_last, mrpt::hwdrivers::CHokuyoURG::TSensorInfo::scans_per_360deg, and sendCmd().

Referenced by turnOn().

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◆ displayVersionInfo()

bool CHokuyoURG::displayVersionInfo ( )
private

Ask to the device, and print to the debug stream, details about the firmware version,serial number,...

Returns
false on any error

Definition at line 741 of file CHokuyoURG.cpp.

References __CURRENT_FUNCTION_NAME__, ensureStreamIsOpen(), m_rcv_data, MRPT_LOG_DEBUG, MRPT_LOG_ERROR_STREAM, MRPT_LOG_INFO_STREAM, receiveResponse(), and sendCmd().

Referenced by turnOn().

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◆ doProcess()

void C2DRangeFinderAbstract::doProcess ( )
overridevirtualinherited

◆ doProcessSimple()

void CHokuyoURG::doProcessSimple ( bool &  outThereIsObservation,
mrpt::obs::CObservation2DRangeScan outObservation,
bool &  hardwareError 
)
overridevirtual

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.

Implements mrpt::hwdrivers::C2DRangeFinderAbstract.

Definition at line 71 of file CHokuyoURG.cpp.

References mrpt::obs::CObservation2DRangeScan::aperture, mrpt::obs::gnss::b1, mrpt::obs::gnss::b2, mrpt::obs::gnss::b3, closeStreamConnection(), mrpt::hwdrivers::CHokuyoURG::TSensorInfo::d_max, ensureStreamIsOpen(), mrpt::hwdrivers::C2DRangeFinderAbstract::filterByExclusionAngles(), mrpt::hwdrivers::C2DRangeFinderAbstract::filterByExclusionAreas(), mrpt::hwdrivers::C2DRangeFinderAbstract::internal_notifyGoodScanNow(), mrpt::hwdrivers::C2DRangeFinderAbstract::internal_notifyNoScanReceived(), m_disable_firmware_timestamp, m_firstRange, m_intensity, m_lastRange, M_PI, m_rcv_data, m_sensor_info, mrpt::hwdrivers::CGenericSensor::m_sensorLabel, m_sensorPose, mrpt::hwdrivers::CGenericSensor::m_state, m_timeStartSynchDelay, m_timeStartTT, m_timeStartUI, mrpt::obs::CObservation2DRangeScan::maxRange, MINIMUM_PACKETS_TO_SET_TIMESTAMP_REFERENCE, MRPT_LOG_ERROR_STREAM, mrpt::system::now(), mrpt::hwdrivers::C2DRangeFinderAbstract::processPreview(), receiveResponse(), mrpt::obs::CObservation2DRangeScan::resizeScan(), mrpt::obs::CObservation2DRangeScan::rightToLeft, mrpt::obs::CObservation2DRangeScan::scan, mrpt::hwdrivers::CHokuyoURG::TSensorInfo::scans_per_360deg, mrpt::obs::CObservation::sensorLabel, mrpt::obs::CObservation2DRangeScan::sensorPose, mrpt::obs::CObservation2DRangeScan::setScanHasIntensity(), mrpt::obs::CObservation2DRangeScan::setScanIntensity(), mrpt::obs::CObservation2DRangeScan::setScanRange(), mrpt::obs::CObservation2DRangeScan::setScanRangeValidity(), mrpt::hwdrivers::CGenericSensor::ssError, mrpt::hwdrivers::CGenericSensor::ssWorking, mrpt::obs::CObservation2DRangeScan::stdError, and mrpt::obs::CObservation::timestamp.

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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.

◆ enableSCIP20()

bool CHokuyoURG::enableSCIP20 ( )
private

Enables the SCIP2.0 protocol (this must be called at the very begining!).

Returns
false on any error

Definition at line 595 of file CHokuyoURG.cpp.

References __CURRENT_FUNCTION_NAME__, ensureStreamIsOpen(), MRPT_LOG_DEBUG, MRPT_LOG_ERROR_STREAM, receiveResponse(), and sendCmd().

Referenced by turnOn().

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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.

◆ ensureStreamIsOpen()

bool CHokuyoURG::ensureStreamIsOpen ( )
protected

Returns true if there is a valid stream bound to the laser scanner, otherwise it first try to open the serial port "m_com_port".

Definition at line 902 of file CHokuyoURG.cpp.

References __CURRENT_FUNCTION_NAME__, mrpt::hwdrivers::C2DRangeFinderAbstract::bindIO(), m_com_port, m_I_am_owner_serial_port, m_ip_dir, m_port_dir, mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream, MRPT_END, MRPT_LOG_ERROR, MRPT_LOG_ERROR_STREAM, MRPT_LOG_INFO_STREAM, MRPT_START, THROW_EXCEPTION, and turnOn().

Referenced by displaySensorInfo(), displayVersionInfo(), doProcessSimple(), enableSCIP20(), initialize(), purgeBuffers(), receiveResponse(), setHighBaudrate(), setHighSensitivityMode(), setMotorSpeed(), startScanningMode(), switchLaserOff(), switchLaserOn(), and turnOn().

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◆ filterByExclusionAngles()

void C2DRangeFinderAbstract::filterByExclusionAngles ( mrpt::obs::CObservation2DRangeScan obs) const
protectedinherited

Mark as invalid those ranges in a set of forbiden angle ranges.

See also
loadExclusionAreas

Definition at line 207 of file C2DRangeFinderAbstract.cpp.

References mrpt::obs::CObservation2DRangeScan::filterByExclusionAngles(), and mrpt::hwdrivers::C2DRangeFinderAbstract::m_lstExclusionAngles.

Referenced by mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), and doProcessSimple().

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◆ filterByExclusionAreas()

void C2DRangeFinderAbstract::filterByExclusionAreas ( mrpt::obs::CObservation2DRangeScan obs) const
protectedinherited

Mark as invalid those points which (x,y) coordinates fall within the exclusion polygons.

See also
loadExclusionAreas

Definition at line 198 of file C2DRangeFinderAbstract.cpp.

References mrpt::obs::CObservation2DRangeScan::filterByExclusionAreas(), and mrpt::hwdrivers::C2DRangeFinderAbstract::m_lstExclusionPolys.

Referenced by mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), and doProcessSimple().

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◆ getEstimatedScanPeriod()

double mrpt::hwdrivers::C2DRangeFinderAbstract::getEstimatedScanPeriod ( ) const
inlineinherited

Returns the empirical, filtered estimation for the period at which whole scans are being returned from calls to doProcessSimple()

Note
: Units: seconds

Definition at line 163 of file C2DRangeFinderAbstract.h.

References mrpt::hwdrivers::C2DRangeFinderAbstract::m_estimated_scan_period.

◆ 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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◆ getObservation()

void C2DRangeFinderAbstract::getObservation ( bool &  outThereIsObservation,
mrpt::obs::CObservation2DRangeScan outObservation,
bool &  hardwareError 
)
inherited

Get the last observation from the sensor, if available, and unmarks it as being "the last one" (thus a new scan must arrive or subsequent calls will find no new observations).

Definition at line 47 of file C2DRangeFinderAbstract.cpp.

References mrpt::hwdrivers::C2DRangeFinderAbstract::m_csLastObservation, mrpt::hwdrivers::C2DRangeFinderAbstract::m_hardwareError, mrpt::hwdrivers::C2DRangeFinderAbstract::m_lastObservation, and mrpt::hwdrivers::C2DRangeFinderAbstract::m_lastObservationIsNew.

◆ 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

◆ getScanInterval()

unsigned int CHokuyoURG::getScanInterval ( ) const

Definition at line 668 of file CHokuyoURG.cpp.

References m_scan_interval.

◆ getSensorLabel()

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

Definition at line 93 of file CGenericSensor.h.

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

◆ getSerialPort()

const std::string mrpt::hwdrivers::CHokuyoURG::getSerialPort ( )
inline

Returns the currently set serial port.

See also
setSerialPort

Definition at line 222 of file CHokuyoURG.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 CHokuyoURG::initialize ( )
overrideprivatevirtual

Turns the laser on.

Reimplemented from mrpt::hwdrivers::CGenericSensor.

Definition at line 1032 of file CHokuyoURG.cpp.

References ensureStreamIsOpen(), mrpt::system::LVL_DEBUG, mrpt::hwdrivers::CGenericSensor::m_verbose, MRPT_LOG_ERROR, mrpt::system::COutputLogger::setMinLoggingLevel(), and turnOn().

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◆ internal_notifyGoodScanNow()

void C2DRangeFinderAbstract::internal_notifyGoodScanNow ( )
protectedinherited

Must be called from doProcessSimple() implementations.

Definition at line 89 of file C2DRangeFinderAbstract.cpp.

References INVALID_TIMESTAMP, mrpt::hwdrivers::C2DRangeFinderAbstract::m_estimated_scan_period, mrpt::hwdrivers::C2DRangeFinderAbstract::m_failure_waiting_scan_counter, mrpt::hwdrivers::C2DRangeFinderAbstract::m_last_good_scan, mrpt::system::now(), and mrpt::system::timeDifference().

Referenced by mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), and doProcessSimple().

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◆ internal_notifyNoScanReceived()

bool C2DRangeFinderAbstract::internal_notifyNoScanReceived ( )
protectedinherited

Must be called from doProcessSimple() implementations.

Returns true if ok, false if this seems strange and should return an error condition to the user.

Definition at line 104 of file C2DRangeFinderAbstract.cpp.

References INVALID_TIMESTAMP, mrpt::hwdrivers::C2DRangeFinderAbstract::m_estimated_scan_period, mrpt::hwdrivers::C2DRangeFinderAbstract::m_failure_waiting_scan_counter, mrpt::hwdrivers::C2DRangeFinderAbstract::m_last_good_scan, mrpt::hwdrivers::C2DRangeFinderAbstract::m_max_missed_scan_failures, mrpt::system::now(), and mrpt::system::timeDifference().

Referenced by mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), and doProcessSimple().

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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.

◆ loadCommonParams()

void C2DRangeFinderAbstract::loadCommonParams ( const mrpt::config::CConfigFileBase configSource,
const std::string iniSection 
)
protectedinherited

Should be call by derived classes at "loadConfig" (loads exclusion areas AND exclusion angles).

This loads a sequence of vertices of a polygon given by its (x,y) coordinates relative to the vehicle, that is, taking into account the "sensorPose".

  • exclusionZoneu_x
  • exclusionZoneu_y for u=1,2,3,... All points within the 2D polygon will be ignored, for any Z, unless an optional entry is found:
  • exclusionZoneu_z=[z_min z_max] In that case, only the points within the 2D polygon AND the given range in Z will be ignored.

The number of zones is variable, but they must start at 1 and be consecutive.

This also loads any other common params (e.g. 'preview')

See also
filterByExclusionAreas

Definition at line 121 of file C2DRangeFinderAbstract.cpp.

References ASSERT_, ASSERTMSG_, mrpt::DEG2RAD(), mrpt::format(), mrpt::hwdrivers::C2DRangeFinderAbstract::m_lstExclusionAngles, mrpt::hwdrivers::C2DRangeFinderAbstract::m_lstExclusionPolys, mrpt::hwdrivers::C2DRangeFinderAbstract::m_max_missed_scan_failures, M_PI, mrpt::hwdrivers::C2DRangeFinderAbstract::m_showPreview, mrpt::config::CConfigFileBase::read_bool(), mrpt::config::CConfigFileBase::read_double(), mrpt::config::CConfigFileBase::read_int(), and mrpt::config::CConfigFileBase::read_vector().

Referenced by mrpt::hwdrivers::CSickLaserUSB::loadConfig_sensorSpecific(), mrpt::hwdrivers::CRoboPeakLidar::loadConfig_sensorSpecific(), mrpt::hwdrivers::CSickLaserSerial::loadConfig_sensorSpecific(), and loadConfig_sensorSpecific().

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

◆ 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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◆ processPreview()

void C2DRangeFinderAbstract::processPreview ( const mrpt::obs::CObservation2DRangeScan obs)
protectedinherited

Must be called inside the capture method to allow optional GUI preview of scans.

Definition at line 213 of file C2DRangeFinderAbstract.cpp.

References mrpt::gui::CDisplayWindow3D::Create(), mrpt::hwdrivers::CGenericSensor::m_sensorLabel, mrpt::hwdrivers::C2DRangeFinderAbstract::m_showPreview, and mrpt::hwdrivers::C2DRangeFinderAbstract::m_win.

Referenced by mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), and doProcessSimple().

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◆ purgeBuffers()

void CHokuyoURG::purgeBuffers ( )

Empties the RX buffers of the serial port.

Definition at line 1045 of file CHokuyoURG.cpp.

References ensureStreamIsOpen(), mrpt::comms::CClientTCPSocket::getReadPendingBytes(), m_ip_dir, mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream, mrpt::comms::CSerialPort::purgeBuffers(), mrpt::io::CStream::Read(), and THROW_EXCEPTION.

Referenced by turnOn().

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◆ receiveResponse()

bool CHokuyoURG::receiveResponse ( char &  rcv_status0,
char &  rcv_status1 
)
private

Waits for a response from the device.

Packet is stored in m_rcv_data, and status codes in the reference parameters.

Returns
false on any error

Definition at line 464 of file CHokuyoURG.cpp.

References ASSERT_, assureBufferHasBytes(), ensureStreamIsOpen(), m_lastSentMeasCmd, m_rcv_data, m_rx_buffer, MRPT_LOG_DEBUG_STREAM, MRPT_LOG_ERROR_FMT, MRPT_LOG_ERROR_STREAM, and mrpt::containers::circular_buffer< T >::pop().

Referenced by displaySensorInfo(), displayVersionInfo(), doProcessSimple(), enableSCIP20(), setHighBaudrate(), setHighSensitivityMode(), setMotorSpeed(), startScanningMode(), switchLaserOff(), and switchLaserOn().

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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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◆ sendCmd()

void CHokuyoURG::sendCmd ( const char *  str)

Definition at line 56 of file CHokuyoURG.cpp.

References ASSERT_, ASSERT_EQUAL_, m_lastSentMeasCmd, mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream, MRPT_END, MRPT_LOG_DEBUG_STREAM, MRPT_START, and mrpt::io::CStream::Write().

Referenced by displaySensorInfo(), displayVersionInfo(), enableSCIP20(), setHighBaudrate(), setHighSensitivityMode(), setMotorSpeed(), startScanningMode(), switchLaserOff(), and switchLaserOn().

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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 267 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 274 of file CGenericSensor.h.

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

◆ setHighBaudrate()

bool CHokuyoURG::setHighBaudrate ( )
private

Passes to 115200bps bitrate.

Returns
false on any error

Definition at line 399 of file CHokuyoURG.cpp.

References ensureStreamIsOpen(), MRPT_LOG_DEBUG, MRPT_LOG_ERROR, receiveResponse(), and sendCmd().

Referenced by turnOn().

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◆ setHighSensitivityMode()

bool CHokuyoURG::setHighSensitivityMode ( bool  enabled)

Changes the high sensitivity mode (HS) (default: false)

Returns
false on any error

Definition at line 706 of file CHokuyoURG.cpp.

References __CURRENT_FUNCTION_NAME__, ensureStreamIsOpen(), MRPT_LOG_DEBUG, MRPT_LOG_DEBUG_FMT, MRPT_LOG_ERROR_STREAM, receiveResponse(), sendCmd(), and mrpt::system::os::sprintf().

Referenced by turnOn().

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◆ setIntensityMode()

bool CHokuyoURG::setIntensityMode ( bool  enabled)

If true scans will capture intensity.

(default: false) Should not be called while scanning.

Returns
false on any error

Definition at line 735 of file CHokuyoURG.cpp.

References m_intensity.

◆ setIPandPort()

void mrpt::hwdrivers::CHokuyoURG::setIPandPort ( const std::string ip,
const unsigned int &  port 
)
inline

Set the ip direction and port to connect using Ethernet communication.

Definition at line 215 of file CHokuyoURG.h.

References m_ip_dir, and m_port_dir.

◆ 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(), initialize(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams(), and mrpt::apps::CGridMapAlignerApp::run().

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◆ setMotorSpeed()

bool CHokuyoURG::setMotorSpeed ( int  motoSpeed_rpm)
private

Changes the motor speed in rpm's (default 600rpm)

Returns
false on any error

Definition at line 669 of file CHokuyoURG.cpp.

References __CURRENT_FUNCTION_NAME__, ensureStreamIsOpen(), MRPT_LOG_DEBUG, MRPT_LOG_DEBUG_FMT, MRPT_LOG_ERROR_STREAM, receiveResponse(), sendCmd(), and mrpt::system::os::sprintf().

Referenced by turnOn().

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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 256 of file CGenericSensor.h.

References MRPT_UNUSED_PARAM.

◆ setReducedFOV()

void mrpt::hwdrivers::CHokuyoURG::setReducedFOV ( const double  fov)
inline

If called (before calling "turnOn"), the field of view of the laser is reduced to the given range (in radians), discarding the rest of measures.

Call with "0" to disable this reduction again (the default).

Definition at line 227 of file CHokuyoURG.h.

References m_reduced_fov.

◆ setScanInterval()

void CHokuyoURG::setScanInterval ( unsigned int  skipScanCount)

Set the skip scan count (0 means send all scans).

Must be set before initialize()

Definition at line 664 of file CHokuyoURG.cpp.

References m_scan_interval.

◆ 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::CHokuyoURG::setSerialPort ( const std::string port_name)
inline

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 213 of file CHokuyoURG.h.

References m_com_port.

◆ setVerbosityLevel()

void COutputLogger::setVerbosityLevel ( const VerbosityLevel  level)
inherited

◆ showPreview()

void mrpt::hwdrivers::C2DRangeFinderAbstract::showPreview ( bool  enable = true)
inlineinherited

Enables GUI visualization in real-time.

Definition at line 117 of file C2DRangeFinderAbstract.h.

References mrpt::hwdrivers::C2DRangeFinderAbstract::m_showPreview.

◆ startScanningMode()

bool CHokuyoURG::startScanningMode ( )
private

Start the continuous scanning mode, using parameters stored in the object (loaded from the .ini file).

Maps to SCIP2.0 commands MD (no intensity) or ME (intensity). After this command the device will start to send scans until switchLaserOff() is called.

Returns
false on any error

Definition at line 867 of file CHokuyoURG.cpp.

References __CURRENT_FUNCTION_NAME__, ensureStreamIsOpen(), m_firstRange, m_intensity, m_lastRange, m_scan_interval, MRPT_LOG_DEBUG, MRPT_LOG_ERROR_STREAM, receiveResponse(), sendCmd(), and mrpt::system::os::sprintf().

Referenced by turnOn().

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◆ switchLaserOff()

bool CHokuyoURG::switchLaserOff ( )
private

Switchs the laser off.

Returns
false on any error

Definition at line 641 of file CHokuyoURG.cpp.

References __CURRENT_FUNCTION_NAME__, ensureStreamIsOpen(), MRPT_LOG_DEBUG, MRPT_LOG_ERROR_STREAM, receiveResponse(), and sendCmd().

Referenced by turnOff(), and turnOn().

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◆ switchLaserOn()

bool CHokuyoURG::switchLaserOn ( )
private

Switchs the laser on.

Returns
false on any error

Definition at line 618 of file CHokuyoURG.cpp.

References __CURRENT_FUNCTION_NAME__, ensureStreamIsOpen(), MRPT_LOG_DEBUG, MRPT_LOG_ERROR_STREAM, receiveResponse(), and sendCmd().

Referenced by turnOn().

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◆ turnOff()

bool CHokuyoURG::turnOff ( )
overridevirtual

Disables the scanning mode (this can be used to turn the device in low energy mode, if available)

Returns
If everything works "true", or "false" if there is any error.

Implements mrpt::hwdrivers::C2DRangeFinderAbstract.

Definition at line 391 of file CHokuyoURG.cpp.

References switchLaserOff().

Referenced by closeStreamConnection().

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◆ turnOn()

bool CHokuyoURG::turnOn ( )
overridevirtual

Enables the scanning mode (which may depend on the specific laser device); this must be called before asking for observations to assure that the protocol has been initializated.

Returns
If everything works "true", or "false" if there is any error.

Implements mrpt::hwdrivers::C2DRangeFinderAbstract.

Definition at line 280 of file CHokuyoURG.cpp.

References displaySensorInfo(), displayVersionInfo(), enableSCIP20(), ensureStreamIsOpen(), m_firstRange, m_highSensMode, m_ip_dir, m_lastRange, m_motorSpeed_rpm, M_PI, m_reduced_fov, m_sensor_info, mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream, MRPT_END, MRPT_LOG_INFO_STREAM, MRPT_START, purgeBuffers(), mrpt::RAD2DEG(), mrpt::hwdrivers::CHokuyoURG::TSensorInfo::scan_first, mrpt::hwdrivers::CHokuyoURG::TSensorInfo::scan_last, mrpt::hwdrivers::CHokuyoURG::TSensorInfo::scans_per_360deg, mrpt::comms::CSerialPort::setConfig(), setHighBaudrate(), setHighSensitivityMode(), setMotorSpeed(), startScanningMode(), switchLaserOff(), and switchLaserOn().

Referenced by ensureStreamIsOpen(), and initialize().

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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_com_port

std::string mrpt::hwdrivers::CHokuyoURG::m_com_port {}
protected

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 266 of file CHokuyoURG.h.

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

◆ m_disable_firmware_timestamp

bool mrpt::hwdrivers::CHokuyoURG::m_disable_firmware_timestamp {false}
protected

Definition at line 286 of file CHokuyoURG.h.

Referenced by doProcessSimple(), and loadConfig_sensorSpecific().

◆ 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_firstRange

int mrpt::hwdrivers::CHokuyoURG::m_firstRange {44}
private

The first and last ranges to consider from the scan.

Definition at line 95 of file CHokuyoURG.h.

Referenced by doProcessSimple(), startScanningMode(), and turnOn().

◆ 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_highSensMode

bool mrpt::hwdrivers::CHokuyoURG::m_highSensMode {false}
private

High sensitivity [HS] mode (default: false)

Definition at line 107 of file CHokuyoURG.h.

Referenced by loadConfig_sensorSpecific(), and turnOn().

◆ m_I_am_owner_serial_port

bool mrpt::hwdrivers::CHokuyoURG::m_I_am_owner_serial_port {false}
protected

Definition at line 278 of file CHokuyoURG.h.

Referenced by closeStreamConnection(), and ensureStreamIsOpen().

◆ m_intensity

bool mrpt::hwdrivers::CHokuyoURG::m_intensity {false}
protected

Get intensity from lidar scan (default: false)

Definition at line 288 of file CHokuyoURG.h.

Referenced by doProcessSimple(), loadConfig_sensorSpecific(), setIntensityMode(), and startScanningMode().

◆ m_ip_dir

std::string mrpt::hwdrivers::CHokuyoURG::m_ip_dir {}
protected

If set to non-empty and m_port_dir too, the program will try to connect to a Hokuyo using Ethernet communication.

Definition at line 270 of file CHokuyoURG.h.

Referenced by assureBufferHasBytes(), ensureStreamIsOpen(), loadConfig_sensorSpecific(), purgeBuffers(), setIPandPort(), and turnOn().

◆ m_lastRange

int mrpt::hwdrivers::CHokuyoURG::m_lastRange {725}
private

Definition at line 95 of file CHokuyoURG.h.

Referenced by doProcessSimple(), startScanningMode(), and turnOn().

◆ m_lastSentMeasCmd

std::string mrpt::hwdrivers::CHokuyoURG::m_lastSentMeasCmd
private

The last sent measurement command (MDXXX), including the last 0x0A.

Definition at line 104 of file CHokuyoURG.h.

Referenced by receiveResponse(), and sendCmd().

◆ 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_motorSpeed_rpm

int mrpt::hwdrivers::CHokuyoURG::m_motorSpeed_rpm {0}
private

The motor speed (default=600rpm)

Definition at line 97 of file CHokuyoURG.h.

Referenced by loadConfig_sensorSpecific(), and turnOn().

◆ 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_port_dir

unsigned int mrpt::hwdrivers::CHokuyoURG::m_port_dir {10940}
protected

If set to non-empty and m_ip_dir too, the program will try to connect to a Hokuyo using Ethernet communication.

Definition at line 273 of file CHokuyoURG.h.

Referenced by ensureStreamIsOpen(), loadConfig_sensorSpecific(), and setIPandPort().

◆ m_process_rate

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

◆ m_rcv_data

std::string mrpt::hwdrivers::CHokuyoURG::m_rcv_data
protected

temp buffer for incoming data packets

Definition at line 249 of file CHokuyoURG.h.

Referenced by displaySensorInfo(), displayVersionInfo(), doProcessSimple(), and receiveResponse().

◆ m_reduced_fov

double mrpt::hwdrivers::CHokuyoURG::m_reduced_fov {0}
protected

Used to reduce artificially the interval of scan ranges.

Definition at line 261 of file CHokuyoURG.h.

Referenced by loadConfig_sensorSpecific(), setReducedFOV(), and turnOn().

◆ m_rx_buffer

mrpt::containers::circular_buffer<uint8_t> mrpt::hwdrivers::CHokuyoURG::m_rx_buffer
private

Auxiliary buffer for readings.

Definition at line 101 of file CHokuyoURG.h.

Referenced by assureBufferHasBytes(), and receiveResponse().

◆ m_scan_interval

unsigned int mrpt::hwdrivers::CHokuyoURG::m_scan_interval {0}
protected

◆ m_sensor_info

TSensorInfo mrpt::hwdrivers::CHokuyoURG::m_sensor_info
protected

The information gathered when the laser is first open.

Definition at line 276 of file CHokuyoURG.h.

Referenced by doProcessSimple(), and turnOn().

◆ 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(), 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(), 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_sensorPose

poses::CPose3D mrpt::hwdrivers::CHokuyoURG::m_sensorPose {0, 0, 0, 0, 0, 0}
private

The sensor 6D pose:

Definition at line 99 of file CHokuyoURG.h.

Referenced by doProcessSimple(), and loadConfig_sensorSpecific().

◆ m_state

◆ m_stream

◆ m_timeStartSynchDelay

int mrpt::hwdrivers::CHokuyoURG::m_timeStartSynchDelay {0}
protected

Counter to discard to first few packets before setting the correspondence between device and computer timestamps.

Definition at line 284 of file CHokuyoURG.h.

Referenced by doProcessSimple().

◆ m_timeStartTT

mrpt::system::TTimeStamp mrpt::hwdrivers::CHokuyoURG::m_timeStartTT
protected

Definition at line 285 of file CHokuyoURG.h.

Referenced by doProcessSimple().

◆ m_timeStartUI

uint32_t mrpt::hwdrivers::CHokuyoURG::m_timeStartUI {0}
protected

Time of the first data packet, for synchronization purposes.

Definition at line 281 of file CHokuyoURG.h.

Referenced by doProcessSimple().

◆ m_verbose

◆ m_win

mrpt::gui::CDisplayWindow3D::Ptr mrpt::hwdrivers::CHokuyoURG::m_win
private

Definition at line 108 of file CHokuyoURG.h.

Referenced by ~CHokuyoURG().




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