mrpt::hwdrivers::CBoardENoses Class Reference

---

Detailed Description

A class for interfacing an e-Noses via a FTDI USB link.

Implemented for the board v1.0 designed by 2007 @ ISA (University of Malaga).

  PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
 -------------------------------------------------------
   [supplied_section_name]
    USB_serialname=ENOSE001   // USB FTDI pipe: will open only if COM_port_* are not set or empty

    COM_port_WIN = COM1       // Serial port to connect to.
    COM_port_LIN = ttyS0

    COM_baudRate = 115200

    ; 3D position (in meters) of the master +slave eNoses
    enose_poses_x=<MASTER X> <SLAVE#1 X> <SLAVE#2 X> <SLAVE#3 X>...
    enose_poses_y=<MASTER Y> <SLAVE#1 Y> <SLAVE#2 Y> <SLAVE#3 Y>...
    enose_poses_z=<MASTER Z> <SLAVE#1 Z> <SLAVE#2 Z> <SLAVE#3 Z>...

    ; 3D pose angles (in degrees) of the master +slave eNoses
    enose_poses_yaw=<MASTER YAW> <SLAVE#1 YAW> <SLAVE#2 YAW> <SLAVE#3 YAW>...
    enose_poses_pitch=<MASTER PITCH> <SLAVE#1 PITCH> <SLAVE#2 PITCH> <SLAVE#3 PITCH>...
    enose_poses_roll=<MASTER ROLL> <SLAVE#1 ROLL> <SLAVE#2 ROLL> <SLAVE#3 ROLL>...

#include <mrpt/hwdrivers/CBoardENoses.h>

Inheritance diagram for mrpt::hwdrivers::CBoardENoses:

List of all members.

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
	CBoardENoses ()
	Constructor.
virtual	~CBoardENoses ()
	Destructor.
bool	setActiveChamber (unsigned char chamber)
	Set the active chamber (afected by poluted air) on the device.
bool	queryFirmwareVersion (std::string &out_firmwareVersion)
	Query the firmware version on the device (can be used to test communications).
bool	getObservation (mrpt::slam::CObservationGasSensors &outObservation)
	Request the master eNose the latest readings from all the eNoses.
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 ()
	Tries to open the camera, after setting all the parameters with a call to loadConfig.
void	setSerialPort (const std::string &port)
	If not an empty string, will open that serial port, otherwise will try to open USB FTDI device "m_usbSerialNumber" The default is an empty string.
std::string	getSerialPort () const
void	setSerialPortBaud (unsigned int baud)
	Set the serial port baud rate (default: 115200)
unsigned int	getSerialPortBaud () const
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
mrpt::utils::CStream *	checkConnectionAndConnect ()
	Tries to connect to the USB device (if disconnected).
void	loadConfig_sensorSpecific (const mrpt::utils::CConfigFileBase &configSource, const std::string &section)
	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::CBoardENoses 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
std::string	m_usbSerialNumber
	A copy of the device serial number (to open the USB FTDI chip)
mrpt::system::TTimeStamp	initial_timestamp
bool	first_reading
std::string	m_COM_port
	If not an empty string (default), will open that serial port, otherwise will try to open USB FTDI device "m_usbSerialNumber".
unsigned int	m_COM_baud
	Default=115200.
CInterfaceFTDI *	m_stream_FTDI
	FTDI comms pipe (when not in serial port mode)
CSerialPort *	m_stream_SERIAL
	Serial port comms.
std::vector< float >	enose_poses_x
	The 3D pose of the master + N slave eNoses on the robot (meters & radians)
std::vector< float >	enose_poses_y
std::vector< float >	enose_poses_z
std::vector< float >	enose_poses_yaw
std::vector< float >	enose_poses_pitch
std::vector< float >	enose_poses_roll
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.

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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.

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Member Enumeration Documentation

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.

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Constructor & Destructor Documentation

mrpt::hwdrivers::CBoardENoses::CBoardENoses

(

)

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::CBoardENoses::~CBoardENoses

(

)

[virtual]

Destructor.

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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.

mrpt::utils::CStream* mrpt::hwdrivers::CBoardENoses::checkConnectionAndConnect

(

)

[protected]

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

Returns:

NULL on error, otherwise a stream to be used for comms.

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::CBoardENoses::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.

Implements mrpt::hwdrivers::CGenericSensor.

unsigned int mrpt::hwdrivers::CGenericSensor::getExternalImageJPEGQuality

(

)

const [inline, inherited]

Definition at line 241 of file CGenericSensor.h.

bool mrpt::hwdrivers::CBoardENoses::getObservation

(

mrpt::slam::CObservationGasSensors &

outObservation

)

Request the master eNose the latest readings from all the eNoses.

The output observation contains a valid timestamp and 3D positions if "loadConfig" has been called previously.

Returns:

true if OK, false if there were any 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.

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::CBoardENoses::getSerialPort

(

)

const [inline]

Definition at line 152 of file CBoardENoses.h.

unsigned int mrpt::hwdrivers::CBoardENoses::getSerialPortBaud

(

)

const [inline]

Definition at line 156 of file CBoardENoses.h.

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::CBoardENoses::initialize

(

)

[virtual]

Tries to open the camera, after setting all the parameters with a call to loadConfig.

Exceptions:

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

Reimplemented from mrpt::hwdrivers::CGenericSensor.

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::CBoardENoses::loadConfig_sensorSpecific	(	const mrpt::utils::CConfigFileBase &	configSource,
		const std::string &	section
	)		[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::CBoardENoses for the possible parameters.

Implements mrpt::hwdrivers::CGenericSensor.

bool mrpt::hwdrivers::CBoardENoses::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.

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.

bool mrpt::hwdrivers::CBoardENoses::setActiveChamber

(

unsigned char

chamber

)

Set the active chamber (afected by poluted air) on the device.

Returns:

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

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.

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::CBoardENoses::setSerialPort

(

const std::string &

port

)

[inline]

If not an empty string, will open that serial port, otherwise will try to open USB FTDI device "m_usbSerialNumber" The default is an empty string.

Example strings: "COM1", "ttyUSB0", ...

Definition at line 151 of file CBoardENoses.h.

void mrpt::hwdrivers::CBoardENoses::setSerialPortBaud

(

unsigned int

baud

)

[inline]

Set the serial port baud rate (default: 115200)

Definition at line 155 of file CBoardENoses.h.

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Member Data Documentation

std::vector<float> mrpt::hwdrivers::CBoardENoses::enose_poses_pitch [protected]

Definition at line 94 of file CBoardENoses.h.

std::vector<float> mrpt::hwdrivers::CBoardENoses::enose_poses_roll [protected]

Definition at line 94 of file CBoardENoses.h.

std::vector<float> mrpt::hwdrivers::CBoardENoses::enose_poses_x [protected]

The 3D pose of the master + N slave eNoses on the robot (meters & radians)

Definition at line 94 of file CBoardENoses.h.

std::vector<float> mrpt::hwdrivers::CBoardENoses::enose_poses_y [protected]

Definition at line 94 of file CBoardENoses.h.

std::vector<float> mrpt::hwdrivers::CBoardENoses::enose_poses_yaw [protected]

Definition at line 94 of file CBoardENoses.h.

std::vector<float> mrpt::hwdrivers::CBoardENoses::enose_poses_z [protected]

Definition at line 94 of file CBoardENoses.h.

bool mrpt::hwdrivers::CBoardENoses::first_reading [protected]

Definition at line 81 of file CBoardENoses.h.

mrpt::system::TTimeStamp mrpt::hwdrivers::CBoardENoses::initial_timestamp [protected]

Definition at line 80 of file CBoardENoses.h.

unsigned int mrpt::hwdrivers::CBoardENoses::m_COM_baud [protected]

Default=115200.

Definition at line 84 of file CBoardENoses.h.

std::string mrpt::hwdrivers::CBoardENoses::m_COM_port [protected]

If not an empty string (default), will open that serial port, otherwise will try to open USB FTDI device "m_usbSerialNumber".

Definition at line 83 of file CBoardENoses.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.

See also:

setPathForExternalImages

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.

size_t mrpt::hwdrivers::CGenericSensor::m_max_queue_len [protected, inherited]

See CGenericSensor.

Definition at line 126 of file CGenericSensor.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.

TSensorState mrpt::hwdrivers::CGenericSensor::m_state [protected, inherited]

Definition at line 134 of file CGenericSensor.h.

CInterfaceFTDI* mrpt::hwdrivers::CBoardENoses::m_stream_FTDI [protected]

FTDI comms pipe (when not in serial port mode)

Definition at line 89 of file CBoardENoses.h.

CSerialPort* mrpt::hwdrivers::CBoardENoses::m_stream_SERIAL [protected]

Serial port comms.

Definition at line 91 of file CBoardENoses.h.

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

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

Definition at line 79 of file CBoardENoses.h.