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mrpt::hwdrivers::CNTRIPEmitter Class Referenceabstract
[mrpt-hwdrivers]

Detailed Description

This "virtual driver" encapsulates a NTRIP client (see CNTRIPClient) but adds the functionality of dumping the received datastream to a given serial port.

Used within rawlog-grabber, along CGPSInterface, this class allows to build a powerful & simple RTK-capable GPS receiver system.

Therefore, this sensor will never "collect" any observation via the CGenericSensor interface.

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 where the NTRIP stream will be
dumped to.
COM_port_LIN = ttyUSB0
baudRate = 38400
#transmit_to_server = true // (Default:true) Whether to send back to the
TCP/IP caster all data received from the output serial port
#raw_output_file_prefix = raw_ntrip_data // If provided, save raw data
from the NTRIP to a file, useful for post-processing. In this case, not
having a serial port configured (commented out) is a valid configuration.
server = 143.123.9.129 // NTRIP caster IP
port = 2101
mountpoint = MYPOINT23
//user = pepe // User & password optional.
//password = loco

The next picture summarizes existing MRPT classes related to GPS / GNSS devices (CGPSInterface, CNTRIPEmitter, CGPS_NTRIP):

See also
CGPSInterface, CGPS_NTRIP, CNTRIPClient

Definition at line 64 of file CNTRIPEmitter.h.

#include <mrpt/hwdrivers/CNTRIPEmitter.h>

Inheritance diagram for mrpt::hwdrivers::CNTRIPEmitter:
Inheritance graph

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

 CNTRIPEmitter ()
 Constructor
More...
 
virtual ~CNTRIPEmitter ()
 Destructor
More...
 
void setOutputSerialPort (const std::string &port)
 Changes the serial port to connect to (call prior to 'doProcess'), for example "COM1" or "ttyS0". More...
 
std::string getOutputSerialPort () const
 
void setRawOutputFilePrefix (const std::string &outfile)
 
std::string getRawOutputFilePrefix () const
 
void initialize ()
 Set up the NTRIP communications, raising an exception on fatal errors. More...
 
void doProcess ()
 The main loop, which must be called in a timely fashion in order to process the incomming NTRIP data stream and dump it to the serial port. More...
 
CNTRIPClient & getNTRIPClient ()
 Exposes the NTRIP client object. More...
 
const CNTRIPClient & getNTRIPClient () const
 Exposes the NTRIP client object. More...
 
virtual const mrpt::hwdrivers::TSensorClassId * GetRuntimeClass () 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 void registerClass (const TSensorClassId *pNewClass)
 Register a class into the internal list of "CGenericSensor" descendents. More...
 
static CGenericSensor * createSensor (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 loadConfig_sensorSpecific (const mrpt::config::CConfigFileBase &configSource, const std::string &iniSection)
 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

size_t m_grab_decimation_counter
 Used when "m_grab_decimation" is enabled. More...
 
TSensorState m_state
 
bool m_verbose
 
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
 For JPEG images, the quality (default=95%). 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_t & get_registered_sensor_classes ()
 Access to singleton. More...
 

Private Attributes

CNTRIPClient::NTRIPArgs m_ntrip_args
 
CNTRIPClient m_client
 The NTRIP comms object. More...
 
mrpt::comms::CSerialPort m_out_COM
 The output serial port. 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...
 
int m_com_bauds
 
bool m_transmit_to_server
 
std::string m_raw_output_file_prefix
 
std::ofstream m_raw_output_file_stream
 
mrpt::system::CTicTac m_rate_timer
 
size_t m_rate_count
 
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

using mrpt::hwdrivers::CGenericSensor::Ptr = std::shared_ptr<CGenericSensor>
inherited

Definition at line 73 of file CGenericSensor.h.

◆ registered_sensor_classes_t

using mrpt::hwdrivers::CGenericSensor::registered_sensor_classes_t = std::map<std::string, const TSensorClassId*>
privateinherited

Used in registerClass.

Definition at line 124 of file CGenericSensor.h.

◆ TListObservations

using mrpt::hwdrivers::CGenericSensor::TListObservations = std::multimap< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr>
inherited

Definition at line 77 of file CGenericSensor.h.

◆ TListObsPair

using mrpt::hwdrivers::CGenericSensor::TListObsPair = std::pair< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr>
inherited

Definition at line 79 of file CGenericSensor.h.

Member Enumeration Documentation

◆ TSensorState

enum mrpt::hwdrivers::CGenericSensor::TSensorState
inherited

The current state of the sensor.

See also
CGenericSensor::getState
Enumerator
ssInitializing 
ssWorking 
ssError 

Definition at line 84 of file CGenericSensor.h.

Constructor & Destructor Documentation

◆ CNTRIPEmitter()

CNTRIPEmitter::CNTRIPEmitter ( )

Constructor

Definition at line 28 of file CNTRIPEmitter.cpp.

◆ ~CNTRIPEmitter()

CNTRIPEmitter::~CNTRIPEmitter ( )
virtual

Destructor

Definition at line 40 of file CNTRIPEmitter.cpp.

References mrpt::comms::CSerialPort::close(), mrpt::hwdrivers::CNTRIPClient::close(), mrpt::comms::CSerialPort::isOpen(), m_client, m_out_COM, and m_raw_output_file_stream.

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 179 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::CIMUIntersense::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().

◆ 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
appendObservation(o);

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 53 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().

◆ 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:

CGenericSensor::Ptr sensor = CGenericSensor::Ptr(
CGenericSensor::createSensor("XXX") );
Returns
A pointer to a new class, or nullptr if class name is unknown.

Definition at line 103 of file CGenericSensor.cpp.

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

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

◆ 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 219 of file CGenericSensor.h.

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

◆ doProcess()

void CNTRIPEmitter::doProcess ( )
virtual

The main loop, which must be called in a timely fashion in order to process the incomming NTRIP data stream and dump it to the serial port.

This method is called automatically when used within rawlog-grabber.

Implements mrpt::hwdrivers::CGenericSensor.

Definition at line 50 of file CNTRIPEmitter.cpp.

References mrpt::format(), mrpt::comms::CSerialPort::isOpen(), m_client, m_out_COM, m_rate_count, m_rate_timer, m_raw_output_file_stream, m_transmit_to_server, mrpt::hwdrivers::CGenericSensor::m_verbose, mrpt::system::now(), mrpt::comms::CSerialPort::Read(), mrpt::containers::MT_buffer::readAndClear(), mrpt::hwdrivers::CNTRIPClient::stream_data, mrpt::system::CTicTac::Tac(), mrpt::system::CTicTac::Tic(), mrpt::system::timeLocalToString(), and mrpt::comms::CSerialPort::Write().

◆ 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 105 of file CGenericSensor.h.

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

◆ get_registered_sensor_classes()

CGenericSensor::registered_sensor_classes_t & CGenericSensor::get_registered_sensor_classes ( )
staticprivateinherited

Access to singleton.

Definition at line 112 of file CGenericSensor.cpp.

Referenced by mrpt::hwdrivers::CGenericSensor::createSensor(), and mrpt::hwdrivers::CGenericSensor::registerClass().

◆ getExternalImageJPEGQuality()

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

Definition at line 289 of file CGenericSensor.h.

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

◆ getNTRIPClient() [1/2]

CNTRIPClient& mrpt::hwdrivers::CNTRIPEmitter::getNTRIPClient ( )
inline

Exposes the NTRIP client object.

Definition at line 128 of file CNTRIPEmitter.h.

References m_client.

◆ getNTRIPClient() [2/2]

const CNTRIPClient& mrpt::hwdrivers::CNTRIPEmitter::getNTRIPClient ( ) const
inline

Exposes the NTRIP client object.

Definition at line 130 of file CNTRIPEmitter.h.

References m_client.

◆ 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 91 of file CGenericSensor.cpp.

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

◆ getOutputSerialPort()

std::string mrpt::hwdrivers::CNTRIPEmitter::getOutputSerialPort ( ) const
inline

Definition at line 105 of file CNTRIPEmitter.h.

References m_com_port.

◆ getProcessRate()

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

Definition at line 93 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_process_rate.

◆ getRawOutputFilePrefix()

std::string mrpt::hwdrivers::CNTRIPEmitter::getRawOutputFilePrefix ( ) const
inline

Definition at line 110 of file CNTRIPEmitter.h.

References m_raw_output_file_prefix.

◆ 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 94 of file CGenericSensor.h.

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

◆ getState()

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

The current state of the sensor

Definition at line 92 of file CGenericSensor.h.

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

◆ initialize()

void CNTRIPEmitter::initialize ( )
virtual

Set up the NTRIP communications, raising an exception on fatal errors.

Called automatically by rawlog-grabber. If used manually, call after "loadConfig" and before "doProcess".

Reimplemented from mrpt::hwdrivers::CGenericSensor.

Definition at line 118 of file CNTRIPEmitter.cpp.

References mrpt::comms::CSerialPort::close(), mrpt::system::dateTimeLocalToString(), mrpt::system::fileNameStripInvalidChars(), mrpt::format(), mrpt::comms::CSerialPort::isOpen(), m_client, m_com_bauds, m_com_port, m_ntrip_args, m_out_COM, m_raw_output_file_prefix, m_raw_output_file_stream, mrpt::system::now(), mrpt::comms::CSerialPort::open(), mrpt::hwdrivers::CNTRIPClient::open(), mrpt::comms::CSerialPort::purgeBuffers(), mrpt::comms::CSerialPort::setConfig(), mrpt::comms::CSerialPort::setTimeouts(), and THROW_EXCEPTION_FMT.

◆ isVerboseEnabled()

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

Definition at line 106 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 132 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(), and mrpt::config::CConfigFileBase::read_string().

◆ loadConfig_sensorSpecific()

void CNTRIPEmitter::loadConfig_sensorSpecific ( const mrpt::config::CConfigFileBase &  configSource,
const std::string &  iniSection 
)
protectedvirtual

See the class documentation at the top for expected parameters.

Implements mrpt::hwdrivers::CGenericSensor.

Definition at line 159 of file CNTRIPEmitter.cpp.

References ASSERTMSG_, m_com_bauds, m_com_port, m_ntrip_args, m_raw_output_file_prefix, m_transmit_to_server, mrpt::hwdrivers::CNTRIPClient::NTRIPArgs::mountpoint, mrpt::hwdrivers::CNTRIPClient::NTRIPArgs::password, mrpt::hwdrivers::CNTRIPClient::NTRIPArgs::port, mrpt::hwdrivers::CNTRIPClient::NTRIPArgs::server, mrpt::system::trim(), and mrpt::hwdrivers::CNTRIPClient::NTRIPArgs::user.

◆ 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 121 of file CGenericSensor.cpp.

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

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

◆ 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 278 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 285 of file CGenericSensor.h.

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

◆ setOutputSerialPort()

void mrpt::hwdrivers::CNTRIPEmitter::setOutputSerialPort ( 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 104 of file CNTRIPEmitter.h.

References m_com_port.

◆ 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 267 of file CGenericSensor.h.

References MRPT_UNUSED_PARAM.

◆ setRawOutputFilePrefix()

void mrpt::hwdrivers::CNTRIPEmitter::setRawOutputFilePrefix ( const std::string &  outfile)
inline

Definition at line 106 of file CNTRIPEmitter.h.

References m_raw_output_file_prefix, and outfile.

◆ setSensorLabel()

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

Definition at line 95 of file CGenericSensor.h.

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

Member Data Documentation

◆ m_client

CNTRIPClient mrpt::hwdrivers::CNTRIPEmitter::m_client
private

The NTRIP comms object.

Definition at line 72 of file CNTRIPEmitter.h.

Referenced by doProcess(), getNTRIPClient(), initialize(), and ~CNTRIPEmitter().

◆ m_com_bauds

int mrpt::hwdrivers::CNTRIPEmitter::m_com_bauds
private

Definition at line 80 of file CNTRIPEmitter.h.

Referenced by initialize(), and loadConfig_sensorSpecific().

◆ m_com_port

std::string mrpt::hwdrivers::CNTRIPEmitter::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 79 of file CNTRIPEmitter.h.

Referenced by getOutputSerialPort(), initialize(), loadConfig_sensorSpecific(), and setOutputSerialPort().

◆ m_csObjList

std::mutex mrpt::hwdrivers::CGenericSensor::m_csObjList
privateinherited

The critical section for m_objList.

Definition at line 118 of file CGenericSensor.h.

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

◆ 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 157 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
protectedinherited

For JPEG images, the quality (default=95%).

Definition at line 159 of file CGenericSensor.h.

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

◆ m_grab_decimation

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation
protectedinherited

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

Definition at line 138 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
protectedinherited

Used when "m_grab_decimation" is enabled.

Definition at line 145 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
protectedinherited

See CGenericSensor.

Definition at line 135 of file CGenericSensor.h.

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

◆ m_ntrip_args

CNTRIPClient::NTRIPArgs mrpt::hwdrivers::CNTRIPEmitter::m_ntrip_args
private

Definition at line 69 of file CNTRIPEmitter.h.

Referenced by initialize(), and loadConfig_sensorSpecific().

◆ m_objList

TListObservations mrpt::hwdrivers::CGenericSensor::m_objList
privateinherited

The queue of objects to be returned by getObservations.

Definition at line 120 of file CGenericSensor.h.

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

◆ m_out_COM

mrpt::comms::CSerialPort mrpt::hwdrivers::CNTRIPEmitter::m_out_COM
private

The output serial port.

Definition at line 74 of file CNTRIPEmitter.h.

Referenced by doProcess(), initialize(), and ~CNTRIPEmitter().

◆ 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 154 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
protectedinherited

See CGenericSensor.

Definition at line 133 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::getProcessRate(), mrpt::hwdrivers::CGyroKVHDSP3000::initialize(), and mrpt::hwdrivers::CGenericSensor::loadConfig().

◆ m_rate_count

size_t mrpt::hwdrivers::CNTRIPEmitter::m_rate_count
private

Definition at line 85 of file CNTRIPEmitter.h.

Referenced by doProcess().

◆ m_rate_timer

mrpt::system::CTicTac mrpt::hwdrivers::CNTRIPEmitter::m_rate_timer
private

Definition at line 84 of file CNTRIPEmitter.h.

Referenced by doProcess().

◆ m_raw_output_file_prefix

std::string mrpt::hwdrivers::CNTRIPEmitter::m_raw_output_file_prefix
private

Definition at line 82 of file CNTRIPEmitter.h.

Referenced by getRawOutputFilePrefix(), initialize(), loadConfig_sensorSpecific(), and setRawOutputFilePrefix().

◆ m_raw_output_file_stream

std::ofstream mrpt::hwdrivers::CNTRIPEmitter::m_raw_output_file_stream
private

Definition at line 83 of file CNTRIPEmitter.h.

Referenced by doProcess(), initialize(), and ~CNTRIPEmitter().

◆ m_sensorLabel

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

See CGenericSensor.

Definition at line 140 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CCANBusReader::CCANBusReader(), mrpt::hwdrivers::CGPSInterface::CGPSInterface(), mrpt::hwdrivers::CGyroKVHDSP3000::CGyroKVHDSP3000(), mrpt::hwdrivers::CHokuyoURG::CHokuyoURG(), mrpt::hwdrivers::CIMUIntersense::CIMUIntersense(), 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::CIMUIntersense::doProcess(), mrpt::hwdrivers::CSkeletonTracker::doProcess(), mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CCANBusReader::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::CKinect::getNextObservation(), mrpt::hwdrivers::CVelodyneScanner::getNextObservation(), mrpt::hwdrivers::CGenericSensor::getSensorLabel(), mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread(), mrpt::hwdrivers::CGenericSensor::loadConfig(), mrpt::hwdrivers::CSkeletonTracker::processPreview(), mrpt::hwdrivers::C2DRangeFinderAbstract::processPreview(), mrpt::hwdrivers::CSkeletonTracker::processPreviewNone(), and mrpt::hwdrivers::CGenericSensor::setSensorLabel().

◆ m_state

TSensorState mrpt::hwdrivers::CGenericSensor::m_state
protectedinherited

Definition at line 147 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGyroKVHDSP3000::CGyroKVHDSP3000(), mrpt::hwdrivers::CIMUXSens_MT4::doProcess(), mrpt::hwdrivers::CIMUXSens::doProcess(), mrpt::hwdrivers::CGyroKVHDSP3000::doProcess(), mrpt::hwdrivers::CIMUIntersense::doProcess(), mrpt::hwdrivers::CSkeletonTracker::doProcess(), mrpt::hwdrivers::CSwissRanger3DCamera::doProcess(), mrpt::hwdrivers::C2DRangeFinderAbstract::doProcess(), mrpt::hwdrivers::CGPSInterface::doProcess(), mrpt::hwdrivers::CNationalInstrumentsDAQ::doProcess(), mrpt::hwdrivers::CKinect::doProcess(), mrpt::hwdrivers::CVelodyneScanner::doProcess(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CCANBusReader::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow(), mrpt::hwdrivers::CVelodyneScanner::getNextObservation(), mrpt::hwdrivers::CGenericSensor::getState(), mrpt::hwdrivers::CIMUXSens_MT4::initialize(), mrpt::hwdrivers::CIMUXSens::initialize(), mrpt::hwdrivers::CIMUIntersense::initialize(), mrpt::hwdrivers::CGyroKVHDSP3000::initialize(), mrpt::hwdrivers::CSkeletonTracker::initialize(), mrpt::hwdrivers::CVelodyneScanner::initialize(), mrpt::hwdrivers::CNationalInstrumentsDAQ::readFromDAQ(), and mrpt::hwdrivers::CIMUXSens::searchPortAndConnect().

◆ m_transmit_to_server

bool mrpt::hwdrivers::CNTRIPEmitter::m_transmit_to_server
private

Definition at line 81 of file CNTRIPEmitter.h.

Referenced by doProcess(), and loadConfig_sensorSpecific().

◆ m_verbose

bool mrpt::hwdrivers::CGenericSensor::m_verbose
protectedinherited

Definition at line 148 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::CGenericSensor(), mrpt::hwdrivers::CRoboPeakLidar::checkCOMMs(), doProcess(), mrpt::hwdrivers::CGPSInterface::doProcess(), mrpt::hwdrivers::CGenericSensor::enableVerbose(), mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread(), mrpt::hwdrivers::CIMUXSens_MT4::initialize(), mrpt::hwdrivers::CHokuyoURG::initialize(), mrpt::hwdrivers::CVelodyneScanner::internal_read_PCAP_packet(), mrpt::hwdrivers::CGenericSensor::isVerboseEnabled(), mrpt::hwdrivers::CGPSInterface::JAVAD_sendMessage(), mrpt::hwdrivers::CGPSInterface::legacy_topcon_setup_commands(), mrpt::hwdrivers::CSickLaserSerial::LMS_setupBaudrate(), mrpt::hwdrivers::CSickLaserSerial::LMS_setupSerialComms(), mrpt::hwdrivers::CSickLaserSerial::LMS_waitIncomingFrame(), mrpt::hwdrivers::CGPSInterface::OnConnectionEstablished(), mrpt::hwdrivers::CGPSInterface::OnConnectionShutdown(), mrpt::hwdrivers::CSickLaserSerial::SendCommandToSICK(), mrpt::hwdrivers::CNationalInstrumentsDAQ::stop(), and mrpt::hwdrivers::CGPSInterface::tryToOpenTheCOM().

mrpt::hwdrivers::CGenericSensor::Ptr
std::shared_ptr< CGenericSensor > Ptr
Definition: CGenericSensor.h:73
mrpt::hwdrivers::CGenericSensor::createSensor
static CGenericSensor * createSensor(const std::string &className)
Creates a sensor by a name of the class.
Definition: CGenericSensor.cpp:103
data
GLsizei GLsizei GLenum GLenum const GLvoid * data
Definition: glext.h:3547
mrpt::obs::CObservationGPS::Ptr
std::shared_ptr< CObservationGPS > Ptr
Definition: CObservationGPS.h:72
mrpt::hwdrivers::CGenericSensor::appendObservation
void appendObservation(const mrpt::serialization::CSerializable::Ptr &obj)
Like appendObservations() but for just one observation.
Definition: CGenericSensor.h:179
a
GLubyte GLubyte GLubyte a
Definition: glext.h:6279


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