Main MRPT website > C++ reference
MRPT logo
List of all members | Public Types | Public Member Functions | Static Public Member Functions | Protected Member Functions | Protected Attributes | Private Member Functions | Static Private Member Functions | Private Attributes
mrpt::hwdrivers::CImpinjRFID Class Referenceabstract

Detailed Description

This class implements an interface to an Impinj RFID reader.

This object connects to a program that does the actual communication with the receiver. This is done because the manufacturer only provides libraries for C# and Java. The program that runs the device must be started after this object

Definition at line 44 of file CImpinjRFID.h.

#include <mrpt/hwdrivers/CImpinjRFID.h>

Inheritance diagram for mrpt::hwdrivers::CImpinjRFID:
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

 CImpinjRFID ()
 Default constructor.
 
virtual ~CImpinjRFID ()
 
void connect ()
 Connect to the reader.
 
void doProcess ()
 This method will be invoked at a minimum rate of "process_rate" (Hz)

Exceptions
Thismethod must throw an exception with a descriptive message if some critical error is found.

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

Exceptions
Thismethod must throw an exception with a descriptive message if some critical parameter is missing or has an invalid value.

 
bool getObservation (mrpt::slam::CObservationRFID &obs)
 Gets the information of the tags as a timestamped observation NOTE: Deprecated, use getObservations instead.
 
void closeReader ()
 Close the connection to the reader.
 
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

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 startDriver ()
 start the external driver
 

Static Private Member Functions

static void dummy_startDriver (CImpinjRFID *o)
 

Private Attributes

float pose_x_1
 Poses (Antenna 1)
 
float pose_y_1
 
float pose_z_1
 
float pose_yaw_1
 
float pose_pitch_1
 
float pose_roll_1
 
float pose_x_2
 Poses (Antenna 2)
 
float pose_y_2
 
float pose_z_2
 
float pose_yaw_2
 
float pose_pitch_2
 
float pose_roll_2
 
int port
 Server port.
 
std::string IPm
 IP of the module (usually 127.0.0.1)
 
std::string reader_name
 Reader name.
 
mrpt::utils::CServerTCPSocket * server
 Server socket (listens for the incoming connection)
 
mrpt::utils::CClientTCPSocket * client
 Client socket (handles the connection to the client)
 
std::string driver_path
 Driver executable path.
 
bool connected
 Connection status.
 

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::CImpinjRFID::CImpinjRFID ( )

Default constructor.

virtual mrpt::hwdrivers::CImpinjRFID::~CImpinjRFID ( )
virtual

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.

void mrpt::hwdrivers::CImpinjRFID::closeReader ( )

Close the connection to the reader.

void mrpt::hwdrivers::CImpinjRFID::connect ( )

Connect to the reader.

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::CImpinjRFID::doProcess ( )
virtual

This method will be invoked at a minimum rate of "process_rate" (Hz)

Exceptions
Thismethod must throw an exception with a descriptive message if some critical error is found.

Implements mrpt::hwdrivers::CGenericSensor.

static void mrpt::hwdrivers::CImpinjRFID::dummy_startDriver ( CImpinjRFID *  o)
staticprivate
unsigned int mrpt::hwdrivers::CGenericSensor::getExternalImageJPEGQuality ( ) const
inlineinherited

Definition at line 241 of file CGenericSensor.h.

bool mrpt::hwdrivers::CImpinjRFID::getObservation ( mrpt::slam::CObservationRFID &  obs)

Gets the information of the tags as a timestamped observation NOTE: Deprecated, use getObservations instead.

See CGenericSensor documentation. This function is kept for internal use of the module

Returns
Returns true if the observation was correct, and false otherwise
See Also
mrpt::hwdrivers::CGenericSensor
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.

TSensorState mrpt::hwdrivers::CGenericSensor::getState ( ) const
inlineinherited

The current state of the sensor.

Definition at line 98 of file CGenericSensor.h.

void mrpt::hwdrivers::CImpinjRFID::initialize ( )
virtual

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

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::CImpinjRFID::loadConfig_sensorSpecific ( const mrpt::utils::CConfigFileBase &  configSource,
const std::string &  section 
)
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)

Exceptions
Thismethod must throw an exception with a descriptive message if some critical parameter is missing or has an invalid value.

Implements mrpt::hwdrivers::CGenericSensor.

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().

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::CImpinjRFID::startDriver ( )
private

start the external driver

Member Data Documentation

mrpt::utils::CClientTCPSocket* mrpt::hwdrivers::CImpinjRFID::client
private

Client socket (handles the connection to the client)

Definition at line 76 of file CImpinjRFID.h.

bool mrpt::hwdrivers::CImpinjRFID::connected
private

Connection status.

Definition at line 84 of file CImpinjRFID.h.

std::string mrpt::hwdrivers::CImpinjRFID::driver_path
private

Driver executable path.

Definition at line 80 of file CImpinjRFID.h.

std::string mrpt::hwdrivers::CImpinjRFID::IPm
private

IP of the module (usually 127.0.0.1)

Definition at line 64 of file CImpinjRFID.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.

int mrpt::hwdrivers::CImpinjRFID::port
private

Server port.

Definition at line 60 of file CImpinjRFID.h.

float mrpt::hwdrivers::CImpinjRFID::pose_pitch_1
private

Definition at line 52 of file CImpinjRFID.h.

float mrpt::hwdrivers::CImpinjRFID::pose_pitch_2
private

Definition at line 56 of file CImpinjRFID.h.

float mrpt::hwdrivers::CImpinjRFID::pose_roll_1
private

Definition at line 52 of file CImpinjRFID.h.

float mrpt::hwdrivers::CImpinjRFID::pose_roll_2
private

Definition at line 56 of file CImpinjRFID.h.

float mrpt::hwdrivers::CImpinjRFID::pose_x_1
private

Poses (Antenna 1)

Definition at line 52 of file CImpinjRFID.h.

float mrpt::hwdrivers::CImpinjRFID::pose_x_2
private

Poses (Antenna 2)

Definition at line 56 of file CImpinjRFID.h.

float mrpt::hwdrivers::CImpinjRFID::pose_y_1
private

Definition at line 52 of file CImpinjRFID.h.

float mrpt::hwdrivers::CImpinjRFID::pose_y_2
private

Definition at line 56 of file CImpinjRFID.h.

float mrpt::hwdrivers::CImpinjRFID::pose_yaw_1
private

Definition at line 52 of file CImpinjRFID.h.

float mrpt::hwdrivers::CImpinjRFID::pose_yaw_2
private

Definition at line 56 of file CImpinjRFID.h.

float mrpt::hwdrivers::CImpinjRFID::pose_z_1
private

Definition at line 52 of file CImpinjRFID.h.

float mrpt::hwdrivers::CImpinjRFID::pose_z_2
private

Definition at line 56 of file CImpinjRFID.h.

std::string mrpt::hwdrivers::CImpinjRFID::reader_name
private

Reader name.

Definition at line 68 of file CImpinjRFID.h.

mrpt::utils::CServerTCPSocket* mrpt::hwdrivers::CImpinjRFID::server
private

Server socket (listens for the incoming connection)

Definition at line 72 of file CImpinjRFID.h.



Page generated by Doxygen 1.8.3 for MRPT 0.9.6 SVN: at Fri Feb 15 22:05:02 EST 2013