A parser of NMEA commands, for connecting to a GPS by a serial port.
This class also supports more advanced GPS equipped with RTK corrections. See the JAVAD/TopCon extra initialization parameters.
PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS: ------------------------------------------------------- [supplied_section_name] COM_port_WIN = COM3 COM_port_LIN = ttyS0 baudRate = 4800 // The baudrate of the communications (typ. 4800 bauds) pose_x = 0 // 3D position of the sensed point relative to the robot (meters) pose_y = 0 pose_z = 0 customInit = // See below for possible values // The next parameters are optional and will be used only // if customInit=="JAVAD" to enable/configure the usage of RTK corrections: //JAVAD_rtk_src_port=/dev/ser/b //JAVAD_rtk_src_baud=9600 //JAVAD_rtk_format=cmr
VERSIONS HISTORY: -9/JUN/2006: First version (JLBC) -4/JUN/2008: Added virtual methods for device-specific initialization commands. -10/JUN/2008: Converted into CGenericSensor class (there are no inhirited classes anymore).
#include <mrpt/hwdrivers/CBoardIR.h>
Public Types | |||
| enum | TSensorState { ssInitializing = 0, ssWorking, ssError } | ||
| The current state of the sensor. More... | |||
| typedef std::multimap < mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > | TListObservations | ||
| typedef std::pair < mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > | TListObsPair | ||
Public Member Functions | |||
| CBoardIR (int BUFFER_LENGTH=13) | |||
| Constructor. | |||
| virtual | ~CBoardIR () | ||
| Destructor. | |||
| void | getObservation (bool &outThereIsObservation, mrpt::slam::CObservationRange &outObservation, bool &hardwareError) | ||
| This method tries to get a set of range measurements from the IR sensors. | |||
| void | doProcess () | ||
| This method should be called periodically (at least at 1Hz to capture ALL the real-time data) It is thread safe, i.e. | |||
| void | setSerialPortName (const std::string &COM_port) | ||
| Set the serial port to use (COM1, ttyUSB0, etc). | |||
| std::string | getSerialPortName () const | ||
| Get the serial port to use (COM1, ttyUSB0, etc). | |||
| virtual const mrpt::hwdrivers::TSensorClassId * | GetRuntimeClass () const =0 | ||
| TSensorState | getState () const | ||
| The current state of the sensor. | |||
| double | getProcessRate () const | ||
| std::string | getSensorLabel () const | ||
| void | setSensorLabel (const std::string &sensorLabel) | ||
| void | loadConfig (const mrpt::utils::CConfigFileBase &configSource, const std::string §ion) | ||
Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific"
| |||
| virtual void | initialize () | ||
| This method can or cannot be implemented in the derived class, depending on the need for it. | |||
| void | getObservations (TListObservations &lstObjects) | ||
| Returns a list of enqueued objects, emptying it (thread-safe). | |||
| 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). | |||
| void | setExternalImageFormat (const std::string &ext) | ||
| Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg". | |||
| void | setExternalImageJPEGQuality (const unsigned int quality) | ||
| The quality of JPEG compression, when external images is enabled and the format is "jpg". | |||
| unsigned int | getExternalImageJPEGQuality () const | ||
Static Public Member Functions | |||
| static void | printf_debug (const char *frmt,...) | ||
| Sends a formated text to "debugOut" if not NULL, or to cout otherwise. | |||
| static void | registerClass (const TSensorClassId *pNewClass) | ||
| Register a class into the internal list of "CGenericSensor" descendents. | |||
| static CGenericSensor * | createSensor (const std::string &className) | ||
| Creates a sensor by a name of the class. | |||
| static CGenericSensorPtr | createSensorPtr (const std::string &className) | ||
| Just like createSensor, but returning a smart pointer to the newly created sensor object. | |||
Protected Member Functions | |||
| bool | OnConnectionEstablished () | ||
| void | loadConfig_sensorSpecific (const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection) | ||
| Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file, loading from the section "[iniSection]" (see utils::CConfigFileBase and derived classes) See hwdrivers::CGPSInterface for the possible parameters. | |||
| void | appendObservations (const std::vector< mrpt::utils::CSerializablePtr > &obj) | ||
| This method must be called by derived classes to enqueue a new observation in the list to be returned by getObservations. | |||
| void | appendObservation (const mrpt::utils::CSerializablePtr &obj) | ||
| Like appendObservations() but for just one observation. | |||
Protected Attributes | |||
| CSerialPort | m_COM | ||
| poses::CPoint3D | m_sensorPose | ||
| std::string | m_customInit | ||
| float | m_minRange | ||
| The minimum range in meters (10cm). | |||
| float | m_maxRange | ||
| The maximum range in meters (80cm). | |||
| std::map< uint16_t, mrpt::math::TPose3D > | m_IRPoses | ||
| The poses of the IR: x[m] y[m] z[m] yaw[deg] pitch[deg] roll[deg] Up to 6 devices, but you can put any number of devices (from 1 to 6). | |||
| size_t | m_grab_decimation_counter | ||
| Used when "m_grab_decimation" is enabled. | |||
| TSensorState | m_state | ||
| std::string | m_path_for_external_images | ||
| The path where to save off-rawlog images: empty means save images embedded in the rawlog. | |||
| std::string | m_external_images_format | ||
| The extension ("jpg","gif","png",...) that determines the format of images saved externally. | |||
| unsigned int | m_external_images_jpeg_quality | ||
| For JPEG images, the quality (default=95%). | |||
Common settings to any sensor, loaded in "loadConfig" | |||
| double | m_process_rate | ||
| See CGenericSensor. | |||
| size_t | m_max_queue_len | ||
| See CGenericSensor. | |||
| size_t | m_grab_decimation | ||
| If set to N>=2, only 1 out of N observations will be saved to m_objList. | |||
| std::string | m_sensorLabel | ||
| See CGenericSensor. | |||
Private Member Functions | |||
| bool | tryToOpenTheCOM () | ||
| Returns true if the COM port is already open, or try to open it in other case. | |||
Private Attributes | |||
| std::string | m_COMname | ||
| int | m_COMbauds | ||
typedef std::multimap< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > mrpt::hwdrivers::CGenericSensor::TListObservations [inherited] |
Definition at line 84 of file CGenericSensor.h.
typedef std::pair< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > mrpt::hwdrivers::CGenericSensor::TListObsPair [inherited] |
Definition at line 85 of file CGenericSensor.h.
enum mrpt::hwdrivers::CGenericSensor::TSensorState [inherited] |
The current state of the sensor.
Definition at line 90 of file CGenericSensor.h.
| mrpt::hwdrivers::CBoardIR::CBoardIR | ( | int | BUFFER_LENGTH = 13 | ) |
Constructor.
| BUFFER_LENGTH | The size of the communications buffer (default value should be fine always) |
| virtual mrpt::hwdrivers::CBoardIR::~CBoardIR | ( | ) | [virtual] |
Destructor.
| void mrpt::hwdrivers::CGenericSensor::appendObservation | ( | const mrpt::utils::CSerializablePtr & | obj | ) | [inline, protected, inherited] |
Like appendObservations() but for just one observation.
Definition at line 155 of file CGenericSensor.h.
| void mrpt::hwdrivers::CGenericSensor::appendObservations | ( | const std::vector< mrpt::utils::CSerializablePtr > & | obj | ) | [protected, inherited] |
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:
CObservationGPSPtr o = CObservationGPSPtr( 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.
| static CGenericSensor* mrpt::hwdrivers::CGenericSensor::createSensor | ( | const std::string & | className | ) | [static, inherited] |
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:
CGenericSensorPtr sensor = CGenericSensorPtr( CGenericSensor::createSensor("XXX") );
| static CGenericSensorPtr mrpt::hwdrivers::CGenericSensor::createSensorPtr | ( | const std::string & | className | ) | [inline, static, inherited] |
Just like createSensor, but returning a smart pointer to the newly created sensor object.
Definition at line 188 of file CGenericSensor.h.
| void mrpt::hwdrivers::CBoardIR::doProcess | ( | ) | [virtual] |
This method should be called periodically (at least at 1Hz to capture ALL the real-time data) It is thread safe, i.e.
you can call this from one thread, then to other methods from other threads. This method processes data from the GPS and update the object state accordingly.
Implements mrpt::hwdrivers::CGenericSensor.
| unsigned int mrpt::hwdrivers::CGenericSensor::getExternalImageJPEGQuality | ( | ) | const [inline, inherited] |
Definition at line 241 of file CGenericSensor.h.
| void mrpt::hwdrivers::CBoardIR::getObservation | ( | bool & | outThereIsObservation, |
| mrpt::slam::CObservationRange & | outObservation, | ||
| bool & | hardwareError | ||
| ) |
This method tries to get a set of range measurements from the IR sensors.
| outObservation | The output observation |
| outThereIsObservation | Will be true if an observation was sucessfully received. |
| hardwareError | Will be true if there's some important error, e.g. serial port can't be open. |
| void mrpt::hwdrivers::CGenericSensor::getObservations | ( | TListObservations & | lstObjects | ) | [inherited] |
Returns a list of enqueued objects, emptying it (thread-safe).
The objects must be freed by the invoker.
| double mrpt::hwdrivers::CGenericSensor::getProcessRate | ( | ) | const [inline, inherited] |
Definition at line 100 of file CGenericSensor.h.
| virtual const mrpt::hwdrivers::TSensorClassId* mrpt::hwdrivers::CGenericSensor::GetRuntimeClass | ( | ) | const [pure virtual, inherited] |
| std::string mrpt::hwdrivers::CGenericSensor::getSensorLabel | ( | ) | const [inline, inherited] |
Definition at line 102 of file CGenericSensor.h.
| std::string mrpt::hwdrivers::CBoardIR::getSerialPortName | ( | ) | const |
Get the serial port to use (COM1, ttyUSB0, etc).
| TSensorState mrpt::hwdrivers::CGenericSensor::getState | ( | ) | const [inline, inherited] |
The current state of the sensor.
Definition at line 98 of file CGenericSensor.h.
| virtual void mrpt::hwdrivers::CGenericSensor::initialize | ( | ) | [inline, virtual, inherited] |
This method can or cannot be implemented in the derived class, depending on the need for it.
| This | method must throw an exception with a descriptive message if some critical error is found. |
Reimplemented in mrpt::hwdrivers::CKinect, mrpt::hwdrivers::CCameraSensor, mrpt::hwdrivers::CSickLaserSerial, mrpt::hwdrivers::CPtuHokuyo, mrpt::hwdrivers::CHokuyoURG, mrpt::hwdrivers::CBoardENoses, mrpt::hwdrivers::CGyroKVHDSP3000, mrpt::hwdrivers::CLMS100Eth, mrpt::hwdrivers::CBoardDLMS, mrpt::hwdrivers::CSwissRanger3DCamera, mrpt::hwdrivers::CIMUXSens, mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors, mrpt::hwdrivers::CNTRIPEmitter, mrpt::hwdrivers::CActivMediaRobotBase, and mrpt::hwdrivers::CIbeoLuxETH.
Definition at line 209 of file CGenericSensor.h.
| void mrpt::hwdrivers::CGenericSensor::loadConfig | ( | const mrpt::utils::CConfigFileBase & | configSource, |
| const std::string & | section | ||
| ) | [inherited] |
Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific"
| This | method throws an exception with a descriptive message if some critical parameter is missing or has an invalid value. |
| void mrpt::hwdrivers::CBoardIR::loadConfig_sensorSpecific | ( | const mrpt::utils::CConfigFileBase & | configSource, |
| const std::string & | iniSection | ||
| ) | [protected, virtual] |
Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file, loading from the section "[iniSection]" (see utils::CConfigFileBase and derived classes) See hwdrivers::CGPSInterface for the possible parameters.
Implements mrpt::hwdrivers::CGenericSensor.
| bool mrpt::hwdrivers::CBoardIR::OnConnectionEstablished | ( | ) | [protected] |
| static void mrpt::utils::CDebugOutputCapable::printf_debug | ( | const char * | frmt, |
| ... | |||
| ) | [static, inherited] |
Sends a formated text to "debugOut" if not NULL, or to cout otherwise.
Referenced by mrpt::math::CLevenbergMarquardtTempl::execute().
| static void mrpt::hwdrivers::CGenericSensor::registerClass | ( | const TSensorClassId * | pNewClass | ) | [static, inherited] |
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.
| void mrpt::hwdrivers::CGenericSensor::setExternalImageFormat | ( | const std::string & | ext | ) | [inline, inherited] |
Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg".
Definition at line 233 of file CGenericSensor.h.
| void mrpt::hwdrivers::CGenericSensor::setExternalImageJPEGQuality | ( | const unsigned int | quality | ) | [inline, inherited] |
The quality of JPEG compression, when external images is enabled and the format is "jpg".
Definition at line 238 of file CGenericSensor.h.
| virtual void mrpt::hwdrivers::CGenericSensor::setPathForExternalImages | ( | const std::string & | directory | ) | [inline, virtual, inherited] |
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.
| std::exception | If the directory doesn't exists and cannot be created. |
Reimplemented in mrpt::hwdrivers::CKinect, mrpt::hwdrivers::CCameraSensor, and mrpt::hwdrivers::CSwissRanger3DCamera.
Definition at line 225 of file CGenericSensor.h.
| void mrpt::hwdrivers::CGenericSensor::setSensorLabel | ( | const std::string & | sensorLabel | ) | [inline, inherited] |
Definition at line 103 of file CGenericSensor.h.
| void mrpt::hwdrivers::CBoardIR::setSerialPortName | ( | const std::string & | COM_port | ) |
Set the serial port to use (COM1, ttyUSB0, etc).
| bool mrpt::hwdrivers::CBoardIR::tryToOpenTheCOM | ( | ) | [private] |
Returns true if the COM port is already open, or try to open it in other case.
CSerialPort mrpt::hwdrivers::CBoardIR::m_COM [protected] |
Definition at line 114 of file CBoardIR.h.
int mrpt::hwdrivers::CBoardIR::m_COMbauds [private] |
Definition at line 142 of file CBoardIR.h.
Definition at line 141 of file CBoardIR.h.
std::string mrpt::hwdrivers::CBoardIR::m_customInit [protected] |
Definition at line 118 of file CBoardIR.h.
std::string mrpt::hwdrivers::CGenericSensor::m_external_images_format [protected, inherited] |
The extension ("jpg","gif","png",...) that determines the format of images saved externally.
Definition at line 139 of file CGenericSensor.h.
unsigned int mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality [protected, inherited] |
For JPEG images, the quality (default=95%).
Definition at line 140 of file CGenericSensor.h.
size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation [protected, inherited] |
If set to N>=2, only 1 out of N observations will be saved to m_objList.
Definition at line 127 of file CGenericSensor.h.
size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter [protected, inherited] |
Used when "m_grab_decimation" is enabled.
Definition at line 132 of file CGenericSensor.h.
std::map<uint16_t,mrpt::math::TPose3D> mrpt::hwdrivers::CBoardIR::m_IRPoses [protected] |
The poses of the IR: x[m] y[m] z[m] yaw[deg] pitch[deg] roll[deg] Up to 6 devices, but you can put any number of devices (from 1 to 6).
Definition at line 131 of file CBoardIR.h.
size_t mrpt::hwdrivers::CGenericSensor::m_max_queue_len [protected, inherited] |
See CGenericSensor.
Definition at line 126 of file CGenericSensor.h.
float mrpt::hwdrivers::CBoardIR::m_maxRange [protected] |
The maximum range in meters (80cm).
Definition at line 126 of file CBoardIR.h.
float mrpt::hwdrivers::CBoardIR::m_minRange [protected] |
The minimum range in meters (10cm).
Definition at line 122 of file CBoardIR.h.
std::string mrpt::hwdrivers::CGenericSensor::m_path_for_external_images [protected, inherited] |
The path where to save off-rawlog images: empty means save images embedded in the rawlog.
Definition at line 138 of file CGenericSensor.h.
double mrpt::hwdrivers::CGenericSensor::m_process_rate [protected, inherited] |
See CGenericSensor.
Definition at line 125 of file CGenericSensor.h.
std::string mrpt::hwdrivers::CGenericSensor::m_sensorLabel [protected, inherited] |
See CGenericSensor.
Definition at line 128 of file CGenericSensor.h.
Definition at line 116 of file CBoardIR.h.
TSensorState mrpt::hwdrivers::CGenericSensor::m_state [protected, inherited] |
Definition at line 134 of file CGenericSensor.h.
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