Detailed Description

: An interface for the phidget Interface kit board (1018).

Author:: Adrien BARRAL - Robopec (aba@robopec.com).

An interface for the Phidgets Interface kit board (part number 1018) on wich it could be plugged either an Sharp IR adaptater board (phidget's part number : 1101),or a MaxBotix EZ-1 sonar (phidget's part number : 1118). The configuration file describe what is plugged to this board, and the geometry of the sensors on the robots. See the exemple below.

 [PhidgetInterfaceKitProximitySensors]
 sensorLabel = FrontProximitySensors
 process_rate = 100                                             // Integer value in Hz (common to all sensors), default value is 50Hz.
 displayRecapitulativeInformations = true       // default value = false.
 serialNumber = 12345                                           // The interface kit serial number (Integer value), default value is -1.
 sensor1 = SHARP-30cm                                           // sharp InfraRed sensor 30cm range (string value). capital to convert raw data to range data (in meters).
 pose1_x = 0                                                            // position on the robot (float value in meters)
 pose1_y = 0
 pose1_z = 0.5
 pose1_yaw = -45.0                                      // Angles in degrees (float value).
 pose1_pitch = 0
 pose1_roll = 0
  //...
 sensorn = EZ1                                                  // Maxbotix Ultrasound sonar
 posen_x = 0
 // ...

The maximum number of sensors on this board is 8. Sensor 1 is the first sensor. If you haven't plugged any sensor on an entry of the board, you haven't to specify anyithing about this sensor in the configuration file. The following table enumerate the different sensors supported by this class.

Warning:: {The Phidget library use udev. By default, udev require to be root to be launched, if you want to be able to run a program wich use a phidget board without be root, you must modify files in /etc/udev/rules.d .}

#include <mrpt/hwdrivers/CPhidgetInterfaceKitProximitySensors.h>

Inheritance diagram for mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors:

[legend]

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

CPhidgetInterfaceKitProximitySensors ()

Constructor.

virtual ~CPhidgetInterfaceKitProximitySensors ()

Destructor.

void getObservation (mrpt::slam::CObservationRange &outObservation)

This method tries to get a set of range measurements from the IR sensors.

void initialize ()

Initialize the sensor according to the parameters previously read in the configuration file.

void doProcess ()

This method should be called periodically.

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 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

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

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

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.

Private Attributes

std::vector< bool > m_sensorIsPlugged

An 8 dimension vector of boolean value wich store the presence or abscence of a sensor on the phidget interface kit board.

std::vector< float > m_minRange

The minimum range in meters, this field is automaticaly filled according to the sensor part number read in the configuration file.

std::vector< float > m_maxRange

The maximum range in meters, this field is automaticaly filled according to the sensor part number read in the configuration file.

std::vector< SensorType > m_sensorType

The sensor type.

std::vector< mrpt::math::CPose3D > m_sensorPoses

The poses of the 8 sensors x[m] y[m] z[m] yaw[deg] pitch[deg] roll[deg].

int m_serialNumber

The board serial number read in the configuration file.

float m_minOfMinRanges

float m_maxOfMaxRanges

void * m_carteInterfaceKit

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::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::CPhidgetInterfaceKitProximitySensors::CPhidgetInterfaceKitProximitySensors ( )

Constructor.

Parameters:

serialNumber The board's serial number. Set -1 to choose the first available board

virtual mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors::~CPhidgetInterfaceKitProximitySensors ( ) [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.

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::CPhidgetInterfaceKitProximitySensors::doProcess ( ) [virtual]

This method should be called periodically.

Period depend on the process_rate in the configuration file.

Implements mrpt::hwdrivers::CGenericSensor.

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

Definition at line 241 of file CGenericSensor.h.

void mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors::getObservation ( mrpt::slam::CObservationRange & outObservation )

This method tries to get a set of range measurements from the IR sensors.

Parameters:

outThereIsObservation Will be true if an observation was sucessfully received.

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.

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

The current state of the sensor.

Definition at line 98 of file CGenericSensor.h.

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

Initialize the sensor according to the parameters previously read in the configuration file.

Exceptions:

throw	an exception if the board could not be found.
throw	an exception if the process rate can't be set on one of the board channel.

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::CPhidgetInterfaceKitProximitySensors::loadConfig_sensorSpecific	(	const mrpt::utils::CConfigFileBase &	configSource,
		const std::string &	iniSection
	)		`[private, 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.

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".

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.

Member Data Documentation

void* mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors::m_carteInterfaceKit [private]

Definition at line 147 of file CPhidgetInterfaceKitProximitySensors.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.

float mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors::m_maxOfMaxRanges [private]

Definition at line 145 of file CPhidgetInterfaceKitProximitySensors.h.

std::vector<float> mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors::m_maxRange [private]

The maximum range in meters, this field is automaticaly filled according to the sensor part number read in the configuration file.

Size of this vector depend on the number of sensors described in the configuration file.

Definition at line 131 of file CPhidgetInterfaceKitProximitySensors.h.

float mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors::m_minOfMinRanges [private]

Definition at line 144 of file CPhidgetInterfaceKitProximitySensors.h.

std::vector<float> mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors::m_minRange [private]

The minimum range in meters, this field is automaticaly filled according to the sensor part number read in the configuration file.

Size of this vector depend on the number of sensors described in the configuration file.

Definition at line 126 of file CPhidgetInterfaceKitProximitySensors.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::vector<bool> mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors::m_sensorIsPlugged [private]

An 8 dimension vector of boolean value wich store the presence or abscence of a sensor on the phidget interface kit board.

Definition at line 122 of file CPhidgetInterfaceKitProximitySensors.h.

std::string mrpt::hwdrivers::CGenericSensor::m_sensorLabel [protected, inherited]

See CGenericSensor.

Definition at line 128 of file CGenericSensor.h.

std::vector<mrpt::math::CPose3D> mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors::m_sensorPoses [private]

The poses of the 8 sensors x[m] y[m] z[m] yaw[deg] pitch[deg] roll[deg].

This field is automaticaly filled according to the sensor described in the configuration file.

Definition at line 139 of file CPhidgetInterfaceKitProximitySensors.h.

std::vector<SensorType> mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors::m_sensorType [private]

The sensor type.

Definition at line 135 of file CPhidgetInterfaceKitProximitySensors.h.

int mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors::m_serialNumber [private]

The board serial number read in the configuration file.

-1 for any board.

Definition at line 143 of file CPhidgetInterfaceKitProximitySensors.h.

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

Definition at line 134 of file CGenericSensor.h.