This class implements a driver for the RAE Systems gas PhotoIonization Detector (PID) (Tested on a MiniRAE Lite) The sensor is accessed via a standard (or USB) serial port.
Refer to the manufacturer website for details on this sensor: http://www.raesystems.com/products/minirae-lite
#include <mrpt/hwdrivers/CRaePID.h>
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 | |||
| CRaePID () | |||
| Default constructor. | |||
| virtual | ~CRaePID () | ||
| void | doProcess () | ||
This method will be invoked at a minimum rate of "process_rate" (Hz)
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| void | loadConfig_sensorSpecific (const mrpt::utils::CConfigFileBase &configSource, const std::string §ion) | ||
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)
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| std::string | getFirmware () | ||
| Get firmware version string. | |||
| std::string | getModel () | ||
| Get model string. | |||
| std::string | getSerialNumber () | ||
| Get serial number as a string. | |||
| std::string | getName () | ||
| Get name string. | |||
| bool | switchPower () | ||
| Switch power on or off (returns true if turned on). | |||
| CObservationGasSensors | getFullInfo () | ||
| Get full reading (see PID documentation). | |||
| bool | errorStatus (std::string &errorString) | ||
| Get error status (true if an error was found). | |||
| void | getLimits (float &min, float &max) | ||
| Get alarm limits. | |||
| 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 §ion) | ||
Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific"
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| 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 | 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 Attributes | |
| std::string | com_port |
| COM port name. | |
| CSerialPort | COM |
| COM port. | |
| float | pose_x |
| Poses. | |
| float | pose_y |
| float | pose_z |
| float | pose_yaw |
| float | pose_pitch |
| float | pose_roll |
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inherited |
Definition at line 84 of file CGenericSensor.h.
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inherited |
Definition at line 85 of file CGenericSensor.h.
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inherited |
The current state of the sensor.
| Enumerator | |
|---|---|
| ssInitializing | |
| ssWorking | |
| ssError | |
Definition at line 90 of file CGenericSensor.h.
| mrpt::hwdrivers::CRaePID::CRaePID | ( | ) |
Default constructor.
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inlinevirtual |
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inlineprotectedinherited |
Like appendObservations() but for just one observation.
Definition at line 155 of file CGenericSensor.h.
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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:
If several observations are passed at once in the vector, they'll be considered as a block regarding the grabbing decimation factor.
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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:
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inlinestaticinherited |
Just like createSensor, but returning a smart pointer to the newly created sensor object.
Definition at line 188 of file CGenericSensor.h.
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virtual |
This method will be invoked at a minimum rate of "process_rate" (Hz)
| This | method must throw an exception with a descriptive message if some critical error is found. |
Implements mrpt::hwdrivers::CGenericSensor.
| bool mrpt::hwdrivers::CRaePID::errorStatus | ( | std::string & | errorString | ) |
Get error status (true if an error was found).
errorString shows the error code (see PID documentation)
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inlineinherited |
Definition at line 241 of file CGenericSensor.h.
| std::string mrpt::hwdrivers::CRaePID::getFirmware | ( | ) |
Get firmware version string.
| CObservationGasSensors mrpt::hwdrivers::CRaePID::getFullInfo | ( | ) |
Get full reading (see PID documentation).
In the returned observation, each reding is saved as a separate e-nose
| void mrpt::hwdrivers::CRaePID::getLimits | ( | float & | min, |
| float & | max | ||
| ) |
Get alarm limits.
| std::string mrpt::hwdrivers::CRaePID::getModel | ( | ) |
Get model string.
| std::string mrpt::hwdrivers::CRaePID::getName | ( | ) |
Get name string.
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inherited |
Returns a list of enqueued objects, emptying it (thread-safe).
The objects must be freed by the invoker.
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inlineinherited |
Definition at line 100 of file CGenericSensor.h.
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pure virtualinherited |
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inlineinherited |
Definition at line 102 of file CGenericSensor.h.
| std::string mrpt::hwdrivers::CRaePID::getSerialNumber | ( | ) |
Get serial number as a string.
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inlineinherited |
The current state of the sensor.
Definition at line 98 of file CGenericSensor.h.
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inlinevirtualinherited |
This method can or cannot be implemented in the derived class, depending on the need for it.
| 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::CImpinjRFID, mrpt::hwdrivers::CNTRIPEmitter, mrpt::hwdrivers::CActivMediaRobotBase, and mrpt::hwdrivers::CIbeoLuxETH.
Definition at line 209 of file CGenericSensor.h.
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inherited |
Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific"
| This | method throws an exception with a descriptive message if some critical parameter is missing or has an invalid value. |
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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)
| This | method must throw an exception with a descriptive message if some critical parameter is missing or has an invalid value. |
Implements mrpt::hwdrivers::CGenericSensor.
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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().
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inlineinherited |
Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg".
Definition at line 233 of file CGenericSensor.h.
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inlineinherited |
The quality of JPEG compression, when external images is enabled and the format is "jpg".
Definition at line 238 of file CGenericSensor.h.
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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.
| 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.
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inlineinherited |
Definition at line 103 of file CGenericSensor.h.
| bool mrpt::hwdrivers::CRaePID::switchPower | ( | ) |
Switch power on or off (returns true if turned on).
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private |
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private |
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protectedinherited |
The extension ("jpg","gif","png",...) that determines the format of images saved externally.
Definition at line 139 of file CGenericSensor.h.
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protectedinherited |
For JPEG images, the quality (default=95%).
Definition at line 140 of file CGenericSensor.h.
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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.
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protectedinherited |
Used when "m_grab_decimation" is enabled.
Definition at line 132 of file CGenericSensor.h.
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protectedinherited |
See CGenericSensor.
Definition at line 126 of file CGenericSensor.h.
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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.
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protectedinherited |
See CGenericSensor.
Definition at line 125 of file CGenericSensor.h.
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protectedinherited |
See CGenericSensor.
Definition at line 128 of file CGenericSensor.h.
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protectedinherited |
Definition at line 134 of file CGenericSensor.h.
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