Detailed Description

An interface to a custom board which interfaces two SICK laser scanners.

Implemented for the board v1.0 designed by 2008 @ ISA (University of Malaga).

  PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
 -------------------------------------------------------
   [DualLMS]
           driver                       = CBoardDLMS
           process_rate         = 30            ; Hz
    USB_serialname      = DLMS-001

    mPose_x                     = 0     ; Master laser range scaner 6D position on the robot (meters)
           mPose_y                      = 0
    mPose_z                     = 0
    mPose_yaw           = 0
    mPose_pitch         = 0
    mPose_roll          = 0

    sPose_x                     = 0     ; Slave laser range scaner 6D position on the robot (meters)
           sPose_y                      = 0
    sPose_z                     = 0
    sPose_yaw           = 0
    sPose_pitch         = 0
    sPose_roll          = 0

#include <mrpt/hwdrivers/CBoardDLMS.h>

Inheritance diagram for mrpt::hwdrivers::CBoardDLMS:

[legend]

List of all members.

Public Types

enum TSeekOrigin { sFromBeginning = 0, sFromCurrent = 1, sFromEnd = 2 }

Used in CStream::Seek. More...

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

CBoardDLMS ()

Constructor.

virtual ~CBoardDLMS ()

Destructor.

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.

virtual void initialize ()

This method can or cannot be implemented in the derived class, depending on the need for it.

bool queryFirmwareVersion (std::string &out_firmwareVersion)

Query the firmware version on the device (can be used to test communications).

bool sendCommand (uint8_t command, std::vector< unsigned char > &response)

Send a command to the DLMS Board.

bool queryTimeStamp (mrpt::system::TTimeStamp &tstamp)

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).

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 &section)

Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific"

Exceptions:

This	method throws an exception with a descriptive message if some critical parameter is missing or has an invalid value.

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 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 checkConnectionAndConnect ()

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

bool checkCRC (const std::vector< unsigned char > &frame)

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::CBoardDLMS for the possible parameters.

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:

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

std::string

m_usbSerialNumber

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

uint32_t m_timeStartUI

mrpt::system::TTimeStamp

mrpt::utils::circular_buffer
< uint8_t > m_readBuffer

Used in Read.

void * m_ftdi_context

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.

Member Typedef Documentation

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.

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.

enum mrpt::hwdrivers::CGenericSensor::TSensorState [inherited]

The current state of the sensor.

See also:: CGenericSensor::getState

Enumerator:

ssInitializing
ssWorking
ssError

Definition at line 90 of file CGenericSensor.h.

Constructor & Destructor Documentation

mrpt::hwdrivers::CBoardDLMS::CBoardDLMS ( )

Constructor.

Parameters:

serialNumberUSBdevice The serial number (text) of the device to open. The constructor will try to open the device. You can check if it failed calling "isOpen()".

virtual mrpt::hwdrivers::CBoardDLMS::~CBoardDLMS ( ) [virtual]

Destructor.

Member Function Documentation

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.

bool mrpt::hwdrivers::CBoardDLMS::checkConnectionAndConnect ( ) [protected]

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

Returns:: True on connection OK, false on error.

bool mrpt::hwdrivers::CBoardDLMS::checkCRC ( const std::vector< unsigned char > & frame ) [protected]

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.

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") );

Returns:: A pointer to a new class, or NULL if class name is unknown.

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::CBoardDLMS::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.

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]`

unsigned int mrpt::hwdrivers::CGenericSensor::getExternalImageJPEGQuality ( ) const [inline, inherited]

Definition at line 241 of file CGenericSensor.h.

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.

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.

uint64_t mrpt::hwdrivers::CInterfaceFTDI::getPosition ( ) [protected, virtual, inherited]

This virtual method does nothing in this class.

Implements mrpt::utils::CStream.

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.

TSensorState mrpt::hwdrivers::CGenericSensor::getState ( ) const [inline, inherited]

The current state of the sensor.

Definition at line 98 of file CGenericSensor.h.

uint64_t mrpt::hwdrivers::CInterfaceFTDI::getTotalBytesCount ( ) [protected, virtual, inherited]

This virtual method does nothing in this class.

Implements mrpt::utils::CStream.

virtual void mrpt::hwdrivers::CBoardDLMS::initialize ( ) [virtual]

This method can or cannot be implemented in the derived class, depending on the need for it.

Exceptions:

This	method must throw an exception with a descriptive message if some critical error is found.

Reimplemented from mrpt::hwdrivers::CGenericSensor.

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::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"

Exceptions:

This	method throws an exception with a descriptive message if some critical parameter is missing or has an invalid value.

void mrpt::hwdrivers::CBoardDLMS::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::CBoardDLMS for the possible parameters.

Implements mrpt::hwdrivers::CGenericSensor.

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::CBoardDLMS::queryFirmwareVersion ( std::string & out_firmwareVersion )

Query the firmware version on the device (can be used to test communications).

Returns:: true on success, false on communications errors or device not found.

bool mrpt::hwdrivers::CBoardDLMS::queryTimeStamp ( mrpt::system::TTimeStamp & tstamp )

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:

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::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.

bool mrpt::hwdrivers::CBoardDLMS::sendCommand	(	uint8_t	command,
		std::vector< unsigned char > &	response
	)

Send a command to the DLMS Board.

Returns:: true on success, false on communications errors or device not found.

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

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".

See also:: setPathForExternalImages, setExternalImageJPEGQuality

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".

See also:: setExternalImageFormat

Definition at line 238 of file CGenericSensor.h.

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.

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.

Exceptions:

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::CInterfaceFTDI::SetTimeouts	(	unsigned long	dwReadTimeout_ms,
		unsigned long	dwWriteTimeout_ms
	)		`[inherited]`

Change read & write timeouts, in milliseconds.

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