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mrpt::hwdrivers::CBoardENoses Class Referenceabstract
[mrpt-hwdrivers]

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>...

Definition at line 72 of file CBoardENoses.h.

#include <mrpt/hwdrivers/CBoardENoses.h>

Inheritance diagram for mrpt::hwdrivers::CBoardENoses:
Inheritance graph
[legend]

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
Thismethod 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.
 

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::CBoardENoses::CBoardENoses ( )

Constructor.

Parameters
serialNumberUSBdeviceThe 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.

Member Function Documentation

void mrpt::hwdrivers::CGenericSensor::appendObservation ( const mrpt::utils::CSerializablePtr &  obj)
inlineprotectedinherited

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)
protectedinherited

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)
staticinherited

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)
inlinestaticinherited

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
inlineinherited

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
inlineinherited

Definition at line 100 of file CGenericSensor.h.

virtual const mrpt::hwdrivers::TSensorClassId* mrpt::hwdrivers::CGenericSensor::GetRuntimeClass ( ) const
pure virtualinherited
std::string mrpt::hwdrivers::CGenericSensor::getSensorLabel ( ) const
inlineinherited

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
inlineinherited

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
Thismethod 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
Thismethod 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 
)
protectedvirtual

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)
staticinherited

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.

Referenced by mrpt::hwdrivers::CGenericSensor::CLASSINIT_GENERIC_SENSOR::CLASSINIT_GENERIC_SENSOR().

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)
inlineinherited

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)
inlineinherited

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)
inlinevirtualinherited

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::exceptionIf 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)
inlineinherited

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.

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
protectedinherited

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
protectedinherited

For JPEG images, the quality (default=95%).

Definition at line 140 of file CGenericSensor.h.

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation
protectedinherited

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
protectedinherited

Used when "m_grab_decimation" is enabled.

Definition at line 132 of file CGenericSensor.h.

size_t mrpt::hwdrivers::CGenericSensor::m_max_queue_len
protectedinherited

See CGenericSensor.

Definition at line 126 of file CGenericSensor.h.

std::string mrpt::hwdrivers::CGenericSensor::m_path_for_external_images
protectedinherited

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
protectedinherited

See CGenericSensor.

Definition at line 125 of file CGenericSensor.h.

std::string mrpt::hwdrivers::CGenericSensor::m_sensorLabel
protectedinherited

See CGenericSensor.

Definition at line 128 of file CGenericSensor.h.

TSensorState mrpt::hwdrivers::CGenericSensor::m_state
protectedinherited

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.



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