mrpt::hwdrivers::CServoeNeck Class Reference

---

Detailed Description

A USB-interface for a custom "robotic neck" designed at MAPIR lab.

#include <mrpt/hwdrivers/CServoeNeck.h>

Inheritance diagram for mrpt::hwdrivers::CServoeNeck:

List of all members.

Public Types
enum	TSeekOrigin { sFromBeginning = 0, sFromCurrent = 1, sFromEnd = 2 }
	Used in CStream::Seek. More...
Public Member Functions
	CServoeNeck ()
	~CServoeNeck ()
bool	queryFirmwareVersion (std::string &out_firmwareVersion)
	Gets the firmware version of the eNeck board.
bool	getCurrentAngle (double &angle, const uint8_t servo=0)
	Gets the current angle of the servo (in radians within (-pi,pi))
bool	setAngle (double angle, const uint8_t servo=0, bool fast=false)
	Turns the servo up to the specified angle (in radians in the range -pi,pi, other values will be saturated to the maximum or the mininum)
bool	setAngleWithFilter (double angle, const uint8_t servo=0, bool fast=false)
	Turns the servo up to the specified angle (in radians in the range -pi,pi) filtered by average with the last N specified angles.
bool	disableServo (const uint8_t servo=0)
	Disables the servo so the neck will be loose.
bool	enableServo (const uint8_t servo=0)
	Enables the servo so the neck will be tight.
bool	center (const uint8_t servo=0)
	Centers the servo at zero position.
double	getTruncateFactor ()
	Gets the truncate factor of the turn.
void	setTruncateFactor (const double factor)
	Gets the truncate factor of the turn.
void	setNumberOfPreviousAngles (const unsigned int number)
	Gets the truncate factor of the turn.
unsigned int	getNumberOfPreviousAngles ()
	Gets the truncate factor of the turn.
bool	isOpen ()
	Checks whether the chip has been successfully open.
void	OpenBySerialNumber (const std::string &serialNumber)
	Open by device serial number.
void	OpenByDescription (const std::string &description)
	Open by device description.
void	Close ()
	Close the USB device.
void	ResetDevice ()
	Reset the USB device.
void	Purge ()
	Purge the I/O buffers.
void	SetLatencyTimer (unsigned char latency_ms)
	Change the latency timer (in milliseconds) implemented on the FTDI chip: for a few ms, data is not sent to the PC waiting for possible more data, to save USB trafic.
void	SetTimeouts (unsigned long dwReadTimeout_ms, unsigned long dwWriteTimeout_ms)
	Change read & write timeouts, in milliseconds.
void	ListAllDevices (TFTDIDeviceList &outList)
	Generates a list with all FTDI devices connected right now.
size_t	ReadSync (void *Buffer, size_t Count)
	Tries to read, raising no exception if not all the bytes are available, but raising one if there is some communication error.
size_t	WriteSync (const void *Buffer, size_t Count)
	Tries to write, raising no exception if not all the bytes are available, but raising one if there is some communication error.
virtual size_t	ReadBufferImmediate (void *Buffer, size_t Count)
	Reads a block of bytes from the stream into Buffer, and returns the amound of bytes actually read, without waiting for more extra bytes to arrive (just those already enqued in the stream).
size_t	ReadBuffer (void *Buffer, size_t Count)
	Reads a block of bytes from the stream into Buffer Exceptions: std::exception On any error, or if ZERO bytes are read.
template<typename T >
size_t	ReadBufferFixEndianness (T *ptr, size_t ElementCount)
	Reads a sequence of elemental datatypes, taking care of reordering their bytes from the MRPT stream standard (little endianness) to the format of the running architecture.
void	WriteBuffer (const void *Buffer, size_t Count)
	Writes a block of bytes to the stream from Buffer.
template<typename T >
void	WriteBufferFixEndianness (const T *ptr, size_t ElementCount)
	Writes a sequence of elemental datatypes, taking care of reordering their bytes from the running architecture to MRPT stream standard (little endianness).
size_t	CopyFrom (CStream *Source, size_t Count)
	Copies a specified number of bytes from one stream to another.
void	WriteObject (const CSerializable *o)
	Writes an object to the stream.
CSerializablePtr	ReadObject ()
	Reads an object from stream, its class determined at runtime, and returns a smart pointer to the object.
void	ReadObject (CSerializable *existingObj)
	Reads an object from stream, where its class must be the same as the supplied object, where the loaded object will be stored in.
CStream &	operator<< (const CSerializablePtr &pObj)
	Write an object to a stream in the binary MRPT format.
CStream &	operator<< (const CSerializable &obj)
	Write an object to a stream in the binary MRPT format.
CStream &	operator>> (CSerializablePtr &pObj)
CStream &	operator>> (CSerializable &obj)
virtual int	printf (const char *fmt,...) MRPT_printf_format_check(2
	Writes a string to the stream in a textual form.
template<typename T >
virtual int void	printf_vector (const char *fmt, const std::vector< T > &V)
	Prints a vector in the format [A,B,C,...] using CStream::printf, and the fmt string for each vector element.
void	sendMessage (const utils::CMessage &msg)
	Send a message to the device.
bool	receiveMessage (utils::CMessage &msg)
	Tries to receive a message from the device.
bool	getline (std::string &out_str)
	Reads from the stream until a ' ' character is found ('' characters are ignored).
Protected Member Functions
bool	setRegisterValue (const uint16_t value, const uint8_t servo=0, bool fast=false)
bool	getRegisterValue (uint16_t &value, const uint8_t servo=0)
size_t	Read (void *Buffer, size_t Count)
	Introduces a pure virtual method responsible for reading from the stream.
size_t	Write (const void *Buffer, size_t Count)
	Introduces a pure virtual method responsible for writing to the stream.
uint64_t	Seek (long Offset, CStream::TSeekOrigin Origin=sFromBeginning)
	This virtual method does nothing in this class.
uint64_t	getTotalBytesCount ()
	This virtual method does nothing in this class.
uint64_t	getPosition ()
	This virtual method does nothing in this class.
void	ftdi_read (void *lpvBuffer, unsigned long dwBuffSize, unsigned long *lpdwBytesRead)
void	ftdi_write (const void *lpvBuffer, unsigned long dwBuffSize, unsigned long *lpdwBytes)
void	recursive_fill_list_devices (void *usb_device_structure, TFTDIDeviceList &outList)
	Process recursively a USB device and its children:
Protected Attributes
std::string	m_usbSerialNumber
	A copy of the device serial number (to open the USB FTDI chip).
double	m_MaxValue
	The value set in the ICR register within the ATMEGA16 controller.
double	m_TruncateFactor
	The range of turn of the servo will be truncated to "+-m_truncate_factor*(pi/2)".
std::deque< double >	m_PrevAngles
	A vector containing the last N angles which where passed to the servo (for averaging)
unsigned int	m_NumPrevAngles
	Number of previous angles to store for averaging.
mrpt::utils::circular_buffer < uint8_t >	m_readBuffer
	Used in Read.
void *	m_ftdi_context
Private Member Functions
unsigned int	angle2RegValue (const double angle)
	Converts from a decimal angle (in radians) to the corresponding register value for the ATMEGA16 controller (for inner use only).
double	regValue2angle (const uint16_t value)
	Converts from a certain value of the ATMEGA16 PWM register to the corresponding decimal angle (for inner use only).
bool	checkConnectionAndConnect ()
	Tries to connect to the USB device (if disconnected).

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Member Enumeration Documentation

enum mrpt::utils::CStream::TSeekOrigin [inherited]

Used in CStream::Seek.

Enumerator:

sFromBeginning
sFromCurrent
sFromEnd

Definition at line 60 of file CStream.h.

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Constructor & Destructor Documentation

mrpt::hwdrivers::CServoeNeck::CServoeNeck

(

)

mrpt::hwdrivers::CServoeNeck::~CServoeNeck

(

)

---

Member Function Documentation

unsigned int mrpt::hwdrivers::CServoeNeck::angle2RegValue

(

const double

angle

)

[private]

Converts from a decimal angle (in radians) to the corresponding register value for the ATMEGA16 controller (for inner use only).

Parameters:

The	angle to convert.

Returns:

The value of the register to send.

bool mrpt::hwdrivers::CServoeNeck::center

(

const uint8_t

servo = 0

)

Centers the servo at zero position.

bool mrpt::hwdrivers::CServoeNeck::checkConnectionAndConnect

(

)

[private]

Tries to connect to the USB device (if disconnected).

Returns:

True on connection OK, false on error.

void mrpt::hwdrivers::CInterfaceFTDI::Close

(

)

[inherited]

Close the USB device.

size_t mrpt::utils::CStream::CopyFrom	(	CStream *	Source,
		size_t	Count
	)		[inherited]

Copies a specified number of bytes from one stream to another.

bool mrpt::hwdrivers::CServoeNeck::disableServo

(

const uint8_t

servo = 0

)

Disables the servo so the neck will be loose.

Parameters:

Servo,:

the id of the servo to move (in our ATMEGA16, from 0 to 2).

Returns:

Whether or not the procedure succeded.

bool mrpt::hwdrivers::CServoeNeck::enableServo

(

const uint8_t

servo = 0

)

Enables the servo so the neck will be tight.

Parameters:

Servo,:

the id of the servo to move (in our ATMEGA16, from 0 to 2).

Returns:

Whether or not the procedure succeded.

void mrpt::hwdrivers::CInterfaceFTDI::ftdi_read	(	void *	lpvBuffer,
		unsigned long	dwBuffSize,
		unsigned long *	lpdwBytesRead
	)		[protected, inherited]

void mrpt::hwdrivers::CInterfaceFTDI::ftdi_write	(	const void *	lpvBuffer,
		unsigned long	dwBuffSize,
		unsigned long *	lpdwBytes
	)		[protected, inherited]

bool mrpt::hwdrivers::CServoeNeck::getCurrentAngle	(	double &	angle,
		const uint8_t	servo = 0
	)

Gets the current angle of the servo (in radians within (-pi,pi))

Parameters:

Angle,:	[OUT] The current angle.
Servo,:	[IN] The id of the servo (in our ATMEGA16, from 0 to 2).

Returns:

Whether or not the procedure succeded.

bool mrpt::utils::CStream::getline

(

std::string &

out_str

)

[inherited]

Reads from the stream until a '
' character is found ('' characters are ignored).

Returns:

false on EOF or any other read error.

unsigned int mrpt::hwdrivers::CServoeNeck::getNumberOfPreviousAngles

(

)

[inline]

Gets the truncate factor of the turn.

Definition at line 108 of file CServoeNeck.h.

uint64_t mrpt::hwdrivers::CInterfaceFTDI::getPosition

(

)

[protected, virtual, inherited]

This virtual method does nothing in this class.

Implements mrpt::utils::CStream.

bool mrpt::hwdrivers::CServoeNeck::getRegisterValue	(	uint16_t &	value,
		const uint8_t	servo = 0
	)		[protected]

uint64_t mrpt::hwdrivers::CInterfaceFTDI::getTotalBytesCount

(

)

[protected, virtual, inherited]

This virtual method does nothing in this class.

Implements mrpt::utils::CStream.

double mrpt::hwdrivers::CServoeNeck::getTruncateFactor

(

)

[inline]

Gets the truncate factor of the turn.

Definition at line 96 of file CServoeNeck.h.

bool mrpt::hwdrivers::CInterfaceFTDI::isOpen

(

)

[inherited]

Checks whether the chip has been successfully open.

See also:

OpenBySerialNumber, OpenByDescription

void mrpt::hwdrivers::CInterfaceFTDI::ListAllDevices

(

TFTDIDeviceList &

outList

)

[inherited]

Generates a list with all FTDI devices connected right now.

void mrpt::hwdrivers::CInterfaceFTDI::OpenByDescription

(

const std::string &

description

)

[inherited]

Open by device description.

void mrpt::hwdrivers::CInterfaceFTDI::OpenBySerialNumber

(

const std::string &

serialNumber

)

[inherited]

Open by device serial number.

CStream& mrpt::utils::CStream::operator<<

(

const CSerializablePtr &

pObj

)

[inherited]

Write an object to a stream in the binary MRPT format.

CStream& mrpt::utils::CStream::operator<<

(

const CSerializable &

obj

)

[inherited]

Write an object to a stream in the binary MRPT format.

CStream& mrpt::utils::CStream::operator>>

(

CSerializablePtr &

pObj

)

[inherited]

CStream& mrpt::utils::CStream::operator>>

(

CSerializable &

obj

)

[inherited]

virtual int mrpt::utils::CStream::printf	(	const char *	fmt,
			...
	)		[virtual, inherited]

Writes a string to the stream in a textual form.

See also:

CStdOutStream

template<typename T >

virtual int void mrpt::utils::CStream::printf_vector	(	const char *	fmt,
		const std::vector< T > &	V
	)		[inline, inherited]

Prints a vector in the format [A,B,C,...] using CStream::printf, and the fmt string for each vector element.

Definition at line 219 of file CStream.h.

void mrpt::hwdrivers::CInterfaceFTDI::Purge

(

)

[inherited]

Purge the I/O buffers.

bool mrpt::hwdrivers::CServoeNeck::queryFirmwareVersion

(

std::string &

out_firmwareVersion

)

Gets the firmware version of the eNeck board.

Parameters:

out_firmwareVersion,:

[OUTPUT] A string containing the firmware version.

Returns:

Whether or not the procedure succeded.

size_t mrpt::hwdrivers::CInterfaceFTDI::Read	(	void *	Buffer,
		size_t	Count
	)		[protected, virtual, inherited]

Introduces a pure virtual method responsible for reading from the stream.

It integrates a cache buffer to speed-up sequences of many, small readings.

Implements mrpt::utils::CStream.

size_t mrpt::utils::CStream::ReadBuffer	(	void *	Buffer,
		size_t	Count
	)		[inherited]

Reads a block of bytes from the stream into Buffer

Exceptions:

std::exception

On any error, or if ZERO bytes are read.

Returns:

The amound of bytes actually read.

Note:

This method is endianness-dependent.

See also:

ReadBufferImmediate ; Important, see: ReadBufferFixEndianness,

template<typename T >

size_t mrpt::utils::CStream::ReadBufferFixEndianness	(	T *	ptr,
		size_t	ElementCount
	)		[inline, inherited]

Reads a sequence of elemental datatypes, taking care of reordering their bytes from the MRPT stream standard (little endianness) to the format of the running architecture.

Parameters:

ElementCount	The number of elements (not bytes) to read.
ptr	A pointer to the first output element in an array (or std::vector<>, etc...).

Returns:

The amound of *bytes* (not elements) actually read (under error situations, the last element may be invalid if the data stream abruptly ends). Example of usage:

   uint32_t  N;
   s >> N;
   vector<float>  vec(N);
   if (N) 
     s.ReadBufferFixEndianness<float>(&vec[0],N);

Exceptions:

std::exception

On any error, or if ZERO bytes are read.

See also:

ReadBufferFixEndianness, ReadBuffer

Definition at line 109 of file CStream.h.

References mrpt::utils::reverseBytesInPlace().

Referenced by mrpt::math::operator>>().

virtual size_t mrpt::hwdrivers::CInterfaceFTDI::ReadBufferImmediate	(	void *	Buffer,
		size_t	Count
	)		[virtual, inherited]

Reads a block of bytes from the stream into Buffer, and returns the amound of bytes actually read, without waiting for more extra bytes to arrive (just those already enqued in the stream).

In this class this method actually behaves as expected and does not fallback to ReadBuffer().

Exceptions:

std::exception

On any error, or if ZERO bytes are read.

Reimplemented from mrpt::utils::CStream.

CSerializablePtr mrpt::utils::CStream::ReadObject

(

)

[inherited]

Reads an object from stream, its class determined at runtime, and returns a smart pointer to the object.

Exceptions:

std::exception	On I/O error or undefined class.
mrpt::utils::CExceptionEOF	On an End-Of-File condition found at a correct place: an EOF that abruptly finishes in the middle of one object raises a plain std::exception instead.

Referenced by mrpt::math::operator>>().

void mrpt::utils::CStream::ReadObject

(

CSerializable *

existingObj

)

[inherited]

Reads an object from stream, where its class must be the same as the supplied object, where the loaded object will be stored in.

Exceptions:

std::exception	On I/O error or different class found.
mrpt::utils::CExceptionEOF	On an End-Of-File condition found at a correct place: an EOF that abruptly finishes in the middle of one object raises a plain std::exception instead.

size_t mrpt::hwdrivers::CInterfaceFTDI::ReadSync	(	void *	Buffer,
		size_t	Count
	)		[inline, inherited]

Tries to read, raising no exception if not all the bytes are available, but raising one if there is some communication error.

Definition at line 144 of file CInterfaceFTDI.h.

bool mrpt::utils::CStream::receiveMessage

(

utils::CMessage &

msg

)

[inherited]

Tries to receive a message from the device.

Exceptions:

std::exception

On communication errors

Returns:

True if successful, false if there is no new data from the device (but communications seem to work fine)

See also:

The frame format is described in sendMessage()

void mrpt::hwdrivers::CInterfaceFTDI::recursive_fill_list_devices	(	void *	usb_device_structure,
		TFTDIDeviceList &	outList
	)		[protected, inherited]

Process recursively a USB device and its children:

double mrpt::hwdrivers::CServoeNeck::regValue2angle

(

const uint16_t

value

)

[private]

Converts from a certain value of the ATMEGA16 PWM register to the corresponding decimal angle (for inner use only).

Parameters:

The	value to convert.

Returns:

The corresponding angle.

void mrpt::hwdrivers::CInterfaceFTDI::ResetDevice

(

)

[inherited]

Reset the USB device.

uint64_t mrpt::hwdrivers::CInterfaceFTDI::Seek	(	long	Offset,
		CStream::TSeekOrigin	Origin = sFromBeginning
	)		[protected, virtual, inherited]

This virtual method does nothing in this class.

Implements mrpt::utils::CStream.

void mrpt::utils::CStream::sendMessage

(

const utils::CMessage &

msg

)

[inherited]

Send a message to the device.

Note that only the low byte from the "type" field will be used.

For frames of size < 255 the frame format is an array of bytes in this order:

  <START_FLAG> <HEADER> <LENGTH> <BODY> <END_FLAG>
        <START_FLAG>    = 0x69
        <HEADER>                = A header byte
        <LENGHT>                = Number of bytes of BODY
        <BODY>                  = N x bytes
        <END_FLAG>              = 0X96
  Total length  =       <LENGTH> + 4

For frames of size > 255 the frame format is an array of bytes in this order:

  <START_FLAG> <HEADER> <HIBYTE(LENGTH)> <LOBYTE(LENGTH)> <BODY> <END_FLAG>
        <START_FLAG>    = 0x79
        <HEADER>                = A header byte
        <LENGHT>                = Number of bytes of BODY
        <BODY>                  = N x bytes
        <END_FLAG>              = 0X96
  Total length  =       <LENGTH> + 5

Exceptions:

std::exception

On communication errors

bool mrpt::hwdrivers::CServoeNeck::setAngle	(	double	angle,
		const uint8_t	servo = 0,
		bool	fast = false
	)

Turns the servo up to the specified angle (in radians in the range -pi,pi, other values will be saturated to the maximum or the mininum)

Parameters:

Angle,:	the desired angle to turn.
Servo,:	the id of the servo to move (in our ATMEGA16, from 0 to 2).
Fast,:	indicates if the servo must reach the angle at maximum speed

Returns:

Whether or not the procedure succeded.

bool mrpt::hwdrivers::CServoeNeck::setAngleWithFilter	(	double	angle,
		const uint8_t	servo = 0,
		bool	fast = false
	)

Turns the servo up to the specified angle (in radians in the range -pi,pi) filtered by average with the last N specified angles.

Parameters:

Angle,:	the new desired angle to turn.
Servo,:	the id of the servo to move (in our ATMEGA16, from 0 to 2).
Fast,:	indicates if the servo must reach the angle at maximum speed

Returns:

Whether or not the procedure succeded.

void mrpt::hwdrivers::CInterfaceFTDI::SetLatencyTimer

(

unsigned char

latency_ms

)

[inherited]

Change the latency timer (in milliseconds) implemented on the FTDI chip: for a few ms, data is not sent to the PC waiting for possible more data, to save USB trafic.

void mrpt::hwdrivers::CServoeNeck::setNumberOfPreviousAngles

(

const unsigned int

number

)

[inline]

Gets the truncate factor of the turn.

Definition at line 104 of file CServoeNeck.h.

bool mrpt::hwdrivers::CServoeNeck::setRegisterValue	(	const uint16_t	value,
		const uint8_t	servo = 0,
		bool	fast = false
	)		[protected]

void mrpt::hwdrivers::CInterfaceFTDI::SetTimeouts	(	unsigned long	dwReadTimeout_ms,
		unsigned long	dwWriteTimeout_ms
	)		[inherited]

Change read & write timeouts, in milliseconds.

void mrpt::hwdrivers::CServoeNeck::setTruncateFactor

(

const double

factor

)

[inline]

Gets the truncate factor of the turn.

Definition at line 100 of file CServoeNeck.h.

References ASSERT_.

size_t mrpt::hwdrivers::CInterfaceFTDI::Write	(	const void *	Buffer,
		size_t	Count
	)		[protected, virtual, inherited]

Introduces a pure virtual method responsible for writing to the stream.

Write attempts to write up to Count bytes to Buffer, and returns the number of bytes actually written.

Implements mrpt::utils::CStream.

void mrpt::utils::CStream::WriteBuffer	(	const void *	Buffer,
		size_t	Count
	)		[inherited]

Writes a block of bytes to the stream from Buffer.

Exceptions:

std::exception

On any error

See also:

Important, see: WriteBufferFixEndianness

Note:

This method is endianness-dependent.

template<typename T >

void mrpt::utils::CStream::WriteBufferFixEndianness	(	const T *	ptr,
		size_t	ElementCount
	)		[inline, inherited]

Writes a sequence of elemental datatypes, taking care of reordering their bytes from the running architecture to MRPT stream standard (little endianness).

Parameters:

ElementCount	The number of elements (not bytes) to write.
ptr	A pointer to the first input element in an array (or std::vector<>, etc...). Example of usage: vector<float> vec = ... uint32_t N = vec.size(); s << N if (N) s.WriteBufferFixEndianness<float>(&vec[0],N);

Exceptions:

std::exception

On any error

See also:

WriteBuffer

Definition at line 153 of file CStream.h.

void mrpt::utils::CStream::WriteObject

(

const CSerializable *

o

)

[inherited]

Writes an object to the stream.

size_t mrpt::hwdrivers::CInterfaceFTDI::WriteSync	(	const void *	Buffer,
		size_t	Count
	)		[inline, inherited]

Tries to write, raising no exception if not all the bytes are available, but raising one if there is some communication error.

Definition at line 151 of file CInterfaceFTDI.h.

---

Member Data Documentation

void* mrpt::hwdrivers::CInterfaceFTDI::m_ftdi_context [protected, inherited]

Definition at line 245 of file CInterfaceFTDI.h.

double mrpt::hwdrivers::CServoeNeck::m_MaxValue [protected]

The value set in the ICR register within the ATMEGA16 controller.

Definition at line 112 of file CServoeNeck.h.

unsigned int mrpt::hwdrivers::CServoeNeck::m_NumPrevAngles [protected]

Number of previous angles to store for averaging.

Definition at line 115 of file CServoeNeck.h.

std::deque<double> mrpt::hwdrivers::CServoeNeck::m_PrevAngles [protected]

A vector containing the last N angles which where passed to the servo (for averaging)

Definition at line 114 of file CServoeNeck.h.

mrpt::utils::circular_buffer<uint8_t> mrpt::hwdrivers::CInterfaceFTDI::m_readBuffer [protected, inherited]

Used in Read.

Definition at line 168 of file CInterfaceFTDI.h.

double mrpt::hwdrivers::CServoeNeck::m_TruncateFactor [protected]

The range of turn of the servo will be truncated to "+-m_truncate_factor*(pi/2)".

Definition at line 113 of file CServoeNeck.h.

std::string mrpt::hwdrivers::CServoeNeck::m_usbSerialNumber [protected]

A copy of the device serial number (to open the USB FTDI chip).

Definition at line 111 of file CServoeNeck.h.