Detailed Description

This "software driver" implements the communication protocol for interfacing a SICK LMS2XX laser scanners through a custom USB RS-422 interface board.

NOTE that this class is for a custom hardware built at our lab (MAPIR, University of Malaga). For a generic serial interface, see the class CSickLaserSerial.

This class does not need to be bind, i.e. you do not need to call C2DRangeFinderAbstract::bindIO. However, calling it will have not effect. In this class the "bind" is ignored since it is designed for USB connections only, thus it internally generate the required object for simplicity of use. The serial number of the USB device is used to open it on the first call to "doProcess", thus you must call "loadConfig" before this, or manually call "setDeviceSerialNumber". The default serial number is "LASER001"

Warning: Avoid defining an object of this class in a global scope if you want to catch all potential exceptions during the constructors (like USB interface DLL not found, etc...)

  PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
 -------------------------------------------------------
   [supplied_section_name]
   SICKUSB_serialNumber=LASER001
   pose_x=0.21  ; Laser range scaner 3D position in the robot (meters)
   pose_y=0
   pose_z=0.34
   pose_yaw=0   ; Angles in degrees
   pose_pitch=0
   pose_roll=0

#include <mrpt/hwdrivers/CSickLaserUSB.h>

Inheritance diagram for mrpt::hwdrivers::CSickLaserUSB:

[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

CSickLaserUSB ()

Constructor.

virtual ~CSickLaserUSB ()

Destructor.

void setDeviceSerialNumber (const std::string &deviceSerialNumber)

Changes the serial number of the device to open (call prior to 'doProcess')

void doProcessSimple (bool &outThereIsObservation, mrpt::slam::CObservation2DRangeScan &outObservation, bool &hardwareError)

Specific laser scanner "software drivers" must process here new data from the I/O stream, and, if a whole scan has arrived, return it.

bool turnOn ()

Enables the scanning mode (in this class this has no effect).

bool turnOff ()

Disables the scanning mode (in this class this has no effect).

void bindIO (CStream *streamIO)

Binds the object to a given I/O channel.

void getObservation (bool &outThereIsObservation, CObservation2DRangeScan &outObservation, bool &hardwareError)

Get the last observation from the sensor, if available, and unmarks it as being "the last one" (thus a new scan must arrive or subsequent calls will find no new observations).

void doProcess ()

Main method for a CGenericSensor.

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.

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

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::CSickLaserUSB for the possible parameters.

void loadExclusionAreas (const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection)

Should be call by derived classes at "loadConfig" (loads exclusion areas AND exclusion angles).

void filterByExclusionAreas (CObservation2DRangeScan &obs) const

Mark as invalid those points which (x,y) coordinates fall within the exclusion polygons.

void filterByExclusionAngles (CObservation2DRangeScan &obs) const

Mark as invalid those ranges in a set of forbiden angle ranges.

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

utils::CStream * m_stream

The I/O channel (will be NULL if not bound).

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 checkControllerIsConnected ()

bool waitContinuousSampleFrame (std::vector< float > &ranges, unsigned char &LMS_status, uint32_t &out_board_timestamp, bool &is_mm_mode)

Private Attributes

CInterfaceFTDI * m_usbConnection

std::string

m_serialNumber

uint32_t m_timeStartUI

Time of the first data packet, for synchronization purposes.

mrpt::system::TTimeStamp

m_timeStartTT

poses::CPose3D

m_sensorPose

The sensor 6D pose:

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::CSickLaserUSB::CSickLaserUSB ( )

Constructor.

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

void mrpt::hwdrivers::C2DRangeFinderAbstract::bindIO ( CStream * streamIO ) [inherited]

Binds the object to a given I/O channel.

The stream object must not be deleted before the destruction of this class.

See also:: hwdrivers::CSerialPort

bool mrpt::hwdrivers::CSickLaserUSB::checkControllerIsConnected ( ) [private]

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::C2DRangeFinderAbstract::doProcess ( ) [virtual, inherited]

Main method for a CGenericSensor.

Implements mrpt::hwdrivers::CGenericSensor.

Reimplemented in mrpt::hwdrivers::CLMS100Eth.

void mrpt::hwdrivers::CSickLaserUSB::doProcessSimple	(	bool &	outThereIsObservation,
		mrpt::slam::CObservation2DRangeScan &	outObservation,
		bool &	hardwareError
	)		`[virtual]`

Specific laser scanner "software drivers" must process here new data from the I/O stream, and, if a whole scan has arrived, return it.

This method will be typically called in a different thread than other methods, and will be called in a timely fashion.

Implements mrpt::hwdrivers::C2DRangeFinderAbstract.

void mrpt::hwdrivers::C2DRangeFinderAbstract::filterByExclusionAngles ( CObservation2DRangeScan & obs ) const [protected, inherited]

Mark as invalid those ranges in a set of forbiden angle ranges.

See also:: loadExclusionAreas

void mrpt::hwdrivers::C2DRangeFinderAbstract::filterByExclusionAreas ( CObservation2DRangeScan & obs ) const [protected, inherited]

Mark as invalid those points which (x,y) coordinates fall within the exclusion polygons.

See also:: loadExclusionAreas

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

Definition at line 241 of file CGenericSensor.h.

void mrpt::hwdrivers::C2DRangeFinderAbstract::getObservation	(	bool &	outThereIsObservation,
		CObservation2DRangeScan &	outObservation,
		bool &	hardwareError
	)		`[inherited]`

Get the last observation from the sensor, if available, and unmarks it as being "the last one" (thus a new scan must arrive or subsequent calls will find no new observations).

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.

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.

Exceptions:

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"

Exceptions:

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

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

Implements mrpt::hwdrivers::CGenericSensor.

void mrpt::hwdrivers::C2DRangeFinderAbstract::loadExclusionAreas	(	const mrpt::utils::CConfigFileBase &	configSource,
		const std::string &	iniSection
	)		`[protected, inherited]`

Should be call by derived classes at "loadConfig" (loads exclusion areas AND exclusion angles).

This loads a sequence of vertices of a polygon given by its (x,y) coordinates relative to the vehicle, that is, taking into account the "sensorPose".

exclusionZoneu_x
exclusionZoneu_y for u=1,2,3,... All points within the 2D polygon will be ignored, for any Z, unless an optional entry is found:
exclusionZoneu_z=[z_min z_max] In that case, only the points within the 2D polygon AND the given range in Z will be ignored.

The number of zones is variable, but they must start at 1 and be consecutive.

See also:: filterByExclusionAreas

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::CSickLaserUSB::setDeviceSerialNumber ( const std::string & deviceSerialNumber ) [inline]

Changes the serial number of the device to open (call prior to 'doProcess')

Definition at line 104 of file CSickLaserUSB.h.

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.

bool mrpt::hwdrivers::CSickLaserUSB::turnOff ( ) [virtual]

Disables the scanning mode (in this class this has no effect).

Returns:: If everything works "true", or "false" if there is any error.

Implements mrpt::hwdrivers::C2DRangeFinderAbstract.

bool mrpt::hwdrivers::CSickLaserUSB::turnOn ( ) [virtual]

Enables the scanning mode (in this class this has no effect).

Returns:: If everything works "true", or "false" if there is any error.

Implements mrpt::hwdrivers::C2DRangeFinderAbstract.

bool mrpt::hwdrivers::CSickLaserUSB::waitContinuousSampleFrame	(	std::vector< float > &	ranges,
		unsigned char &	LMS_status,
		uint32_t &	out_board_timestamp,
		bool &	is_mm_mode
	)		`[private]`