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

Detailed Description

This "software driver" implements the communication protocol for interfacing a SICK LMS 2XX laser scanners through a standard RS232 serial port (or a USB2SERIAL converter).

The serial port is opened upon the first call to "doProcess" or "initialize", so you must call "loadConfig" before this, or manually call "setSerialPort". Another alternative is to call the base class method C2DRangeFinderAbstract::bindIO, but the "setSerialPort" interface is probably much simpler to use.

For an example of usage see the example in "samples/SICK_laser_serial_test". See also the example configuration file for rawlog-grabber in "share/mrpt/config_files/rawlog-grabber".

PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
-------------------------------------------------------
[supplied_section_name]
COM_port_WIN = COM1 // Serial port to connect to
COM_port_LIN = ttyS0
COM_baudRate = 38400 // Possible values: 9600 (default), 38400, 5000000
mm_mode = 1/0 // 1: millimeter mode, 0:centimeter mode (Default=0)
FOV = 180 // Field of view: 100 or 180 degrees (Default=180)
resolution = 50 // Scanning resolution, in units of 1/100 degree. Valid values: 25,50,100 (Default=50)
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
See also
C2DRangeFinderAbstract

Definition at line 53 of file CCANBusReader.h.

#include <mrpt/hwdrivers/CCANBusReader.h>

Inheritance diagram for mrpt::hwdrivers::CCANBusReader:
Inheritance graph

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
 
typedef CGenericSensorPtr Ptr
 
typedef stlplus::smart_ptr< const CGenericSensor > ConstPtr
 

Public Member Functions

 CCANBusReader ()
 Constructor. More...
 
virtual ~CCANBusReader ()
 Destructor. More...
 
void setSerialPort (const std::string &port)
 Changes the serial port to connect to (call prior to 'doProcess'), for example "COM1" or "ttyS0". More...
 
std::string getSerialPort () const
 
void setBaudRate (int baud)
 Changes the serial port baud rate (call prior to 'doProcess'); valid values are 9600,38400 and 500000. More...
 
int getBaudRate () const
 
void setCANReaderTimeStamping (bool setTimestamp=false)
 Enables/Disables the addition of a timestamp according to the arrival time to the converter (default=false) (call prior to 'doProcess') This is not needed if the configuration is loaded with "loadConfig". More...
 
bool getCANReaderTimeStamping ()
 
void setCANReaderSpeed (const unsigned int speed)
 Sets the CAN reader speed when connecting to the CAN Bus. More...
 
unsigned int getCANReaderSpeed ()
 
unsigned int getCurrentConnectTry () const
 If performing several tries in ::initialize(), this is the current try loop number. More...
 
void doProcessSimple (bool &outThereIsObservation, mrpt::obs::CObservationCANBusJ1939 &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. More...
 
void initialize ()
 Set-up communication with the laser. More...
 
void doProcess ()
 This method will be invoked at a minimum rate of "process_rate" (Hz) More...
 
virtual const mrpt::hwdrivers::TSensorClassId * GetRuntimeClass () const =0
 
TSensorState getState () const
 The current state of the sensor. More...
 
double getProcessRate () const
 
std::string getSensorLabel () const
 
void setSensorLabel (const std::string &sensorLabel)
 
void enableVerbose (bool enabled=true)
 Enable or disable extra debug info dumped to std::cout during sensor operation. More...
 
bool isVerboseEnabled () const
 
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". More...
 
void getObservations (TListObservations &lstObjects)
 Returns a list of enqueued objects, emptying it (thread-safe). More...
 
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). More...
 
void setExternalImageFormat (const std::string &ext)
 Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg". More...
 
void setExternalImageJPEGQuality (const unsigned int quality)
 The quality of JPEG compression, when external images is enabled and the format is "jpg". More...
 
unsigned int getExternalImageJPEGQuality () const
 

Static Public Member Functions

static void registerClass (const TSensorClassId *pNewClass)
 Register a class into the internal list of "CGenericSensor" descendents. More...
 
static CGenericSensor * createSensor (const std::string &className)
 Creates a sensor by a name of the class. More...
 
static CGenericSensorPtr createSensorPtr (const std::string &className)
 Just like createSensor, but returning a smart pointer to the newly created sensor object. More...
 

Protected Member Functions

void loadConfig_sensorSpecific (const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection)
 See the class documentation at the top for expected parameters. More...
 
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. More...
 
void appendObservation (const mrpt::utils::CSerializablePtr &obj)
 Like appendObservations() but for just one observation. More...
 

Protected Attributes

size_t m_grab_decimation_counter
 Used when "m_grab_decimation" is enabled. More...
 
TSensorState m_state
 
bool m_verbose
 
std::string m_path_for_external_images
 The path where to save off-rawlog images: empty means save images embedded in the rawlog. More...
 
std::string m_external_images_format
 The extension ("jpg","gif","png",...) that determines the format of images saved externally. More...
 
unsigned int m_external_images_jpeg_quality
 For JPEG images, the quality (default=95%). More...
 
Common settings to any sensor, loaded in "loadConfig"
double m_process_rate
 See CGenericSensor. More...
 
size_t m_max_queue_len
 See CGenericSensor. More...
 
size_t m_grab_decimation
 If set to N>=2, only 1 out of N observations will be saved to m_objList. More...
 
std::string m_sensorLabel
 See CGenericSensor. More...
 

Private Member Functions

bool tryToOpenComms (std::string *err_msg=NULL)
 Tries to open the com port and setup all the LMS protocol. Returns true if OK or already open. More...
 
bool waitContinuousSampleFrame (uint8_t &out_prio, uint8_t &out_pdu_format, uint8_t &out_pdu_spec, uint8_t &out_src_address, uint8_t &out_data_length, uint16_t &out_pgn, std::vector< uint8_t > &out_data, std::vector< char > &out_raw_frame)
 
bool sendCANBusReaderSpeed ()
 Sends the specified speed to the CAN Converter. More...
 
bool CANBusOpenChannel ()
 Opens the CAN Channel. More...
 
bool CANBusCloseChannel ()
 Closes the CAN Channel. More...
 
bool CANBusAutoPoll ()
 
bool CANBusPoll ()
 
bool CANBusX1 ()
 
bool setupSerialComms ()
 
bool queryVersion (bool printOutVersion=false)
 
bool waitACK (uint16_t timeout_ms)
 
bool waitForVersion (uint16_t timeout, bool printOutVersion=false)
 
bool waitIncomingFrame (uint16_t timeout)
 
bool sendCommandToCANReader (const uint8_t *cmd, const uint16_t cmd_len, bool wait=true)
 

Private Attributes

uint8_t m_received_frame_buffer [2000]
 
std::string m_com_port
 If set to non-empty, the serial port will be attempted to be opened automatically when this class is first used to request data from the laser. More...
 
CSerialPort * m_mySerialPort
 Will be !=NULL only if I created it, so I must destroy it at the end. More...
 
int m_com_baudRate
 Baudrate: 9600, 38400, 500000. More...
 
unsigned int m_nTries_connect
 Default = 1. More...
 
unsigned int m_nTries_current
 
int m_canbus_speed
 
bool m_canreader_timestamp
 
bool m_CANBusChannel_isOpen
 

Member Typedef Documentation

◆ ConstPtr

typedef stlplus::smart_ptr<const CGenericSensor> mrpt::hwdrivers::CGenericSensor::ConstPtr
inherited

Definition at line 103 of file CGenericSensor.h.

◆ Ptr

typedef CGenericSensorPtr mrpt::hwdrivers::CGenericSensor::Ptr
inherited

Definition at line 102 of file CGenericSensor.h.

◆ TListObservations

typedef std::multimap< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > mrpt::hwdrivers::CGenericSensor::TListObservations
inherited

Definition at line 68 of file CGenericSensor.h.

◆ TListObsPair

typedef std::pair< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > mrpt::hwdrivers::CGenericSensor::TListObsPair
inherited

Definition at line 69 of file CGenericSensor.h.

Member Enumeration Documentation

◆ TSensorState

enum mrpt::hwdrivers::CGenericSensor::TSensorState
inherited

The current state of the sensor.

See also
CGenericSensor::getState
Enumerator
ssInitializing 
ssWorking 
ssError 

Definition at line 74 of file CGenericSensor.h.

Constructor & Destructor Documentation

◆ CCANBusReader()

CCANBusReader::CCANBusReader ( )

Constructor.

Definition at line 46 of file CCANBusReader.cpp.

References m_received_frame_buffer, and mrpt::hwdrivers::CGenericSensor::m_sensorLabel.

◆ ~CCANBusReader()

CCANBusReader::~CCANBusReader ( )
virtual

Destructor.

Definition at line 64 of file CCANBusReader.cpp.

References CANBusCloseChannel(), m_CANBusChannel_isOpen, and m_mySerialPort.

Member Function Documentation

◆ appendObservation()

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

Like appendObservations() but for just one observation.

Definition at line 147 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CIMUXSens_MT4::doProcess(), mrpt::hwdrivers::CIMUXSens::doProcess(), mrpt::hwdrivers::CSkeletonTracker::doProcess(), mrpt::hwdrivers::CSwissRanger3DCamera::doProcess(), mrpt::hwdrivers::CIMUIntersense::doProcess(), mrpt::hwdrivers::CGyroKVHDSP3000::doProcess(), mrpt::hwdrivers::C2DRangeFinderAbstract::doProcess(), doProcess(), mrpt::hwdrivers::CVelodyneScanner::doProcess(), and mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow().

◆ appendObservations()

void 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:

mrpt::obs::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.

Definition at line 53 of file CGenericSensor.cpp.

References CLASS_ID, mrpt::hwdrivers::CGenericSensor::m_csObjList, mrpt::hwdrivers::CGenericSensor::m_grab_decimation, mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter, mrpt::hwdrivers::CGenericSensor::m_objList, and THROW_EXCEPTION.

Referenced by mrpt::hwdrivers::CNationalInstrumentsDAQ::doProcess(), and mrpt::hwdrivers::CKinect::doProcess().

◆ CANBusAutoPoll()

bool CCANBusReader::CANBusAutoPoll ( )
private

Definition at line 324 of file CCANBusReader.cpp.

References sendCommandToCANReader(), and waitACK().

◆ CANBusCloseChannel()

bool CCANBusReader::CANBusCloseChannel ( )
private

Closes the CAN Channel.

Definition at line 313 of file CCANBusReader.cpp.

References m_CANBusChannel_isOpen, and sendCommandToCANReader().

Referenced by setupSerialComms(), and ~CCANBusReader().

◆ CANBusOpenChannel()

bool CCANBusReader::CANBusOpenChannel ( )
private

Opens the CAN Channel.

Definition at line 304 of file CCANBusReader.cpp.

References m_CANBusChannel_isOpen, sendCommandToCANReader(), and waitACK().

Referenced by tryToOpenComms().

◆ CANBusPoll()

bool CCANBusReader::CANBusPoll ( )
private

Definition at line 341 of file CCANBusReader.cpp.

References sendCommandToCANReader(), and waitACK().

◆ CANBusX1()

bool CCANBusReader::CANBusX1 ( )
private

Definition at line 332 of file CCANBusReader.cpp.

References sendCommandToCANReader(), and waitACK().

◆ createSensor()

CGenericSensor * 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.

Definition at line 103 of file CGenericSensor.cpp.

References mrpt::hwdrivers::CGenericSensor::get_registered_sensor_classes().

◆ createSensorPtr()

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 180 of file CGenericSensor.h.

◆ doProcess()

void CCANBusReader::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.

Definition at line 82 of file CCANBusReader.cpp.

References mrpt::hwdrivers::CGenericSensor::appendObservation(), mrpt::obs::CObservationCANBusJ1939::Create(), and doProcessSimple().

◆ doProcessSimple()

void CCANBusReader::doProcessSimple ( bool &  outThereIsObservation,
mrpt::obs::CObservationCANBusJ1939 &  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.

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

Definition at line 98 of file CCANBusReader.cpp.

References mrpt::obs::CObservationCANBusJ1939::m_data, mrpt::obs::CObservationCANBusJ1939::m_data_length, mrpt::obs::CObservationCANBusJ1939::m_pdu_format, mrpt::obs::CObservationCANBusJ1939::m_pdu_spec, mrpt::obs::CObservationCANBusJ1939::m_pgn, mrpt::obs::CObservationCANBusJ1939::m_priority, mrpt::obs::CObservationCANBusJ1939::m_raw_frame, mrpt::hwdrivers::CGenericSensor::m_sensorLabel, mrpt::obs::CObservationCANBusJ1939::m_src_address, mrpt::hwdrivers::CGenericSensor::m_state, mrpt::system::now(), mrpt::obs::CObservation::sensorLabel, mrpt::hwdrivers::CGenericSensor::ssWorking, mrpt::obs::CObservation::timestamp, tryToOpenComms(), and waitContinuousSampleFrame().

Referenced by doProcess().

◆ enableVerbose()

void mrpt::hwdrivers::CGenericSensor::enableVerbose ( bool  enabled = true)
inlineinherited

Enable or disable extra debug info dumped to std::cout during sensor operation.

Default: disabled unless the environment variable "MRPT_HWDRIVERS_VERBOSE" is set to "1" during object creation.

Definition at line 92 of file CGenericSensor.h.

◆ getBaudRate()

int mrpt::hwdrivers::CCANBusReader::getBaudRate ( ) const
inline
See also
setBaudRate

Definition at line 121 of file CCANBusReader.h.

◆ getCANReaderSpeed()

unsigned int mrpt::hwdrivers::CCANBusReader::getCANReaderSpeed ( )
inline

Definition at line 132 of file CCANBusReader.h.

◆ getCANReaderTimeStamping()

bool mrpt::hwdrivers::CCANBusReader::getCANReaderTimeStamping ( )
inline

Definition at line 127 of file CCANBusReader.h.

◆ getCurrentConnectTry()

unsigned int mrpt::hwdrivers::CCANBusReader::getCurrentConnectTry ( ) const
inline

If performing several tries in ::initialize(), this is the current try loop number.

Definition at line 135 of file CCANBusReader.h.

◆ getExternalImageJPEGQuality()

unsigned int mrpt::hwdrivers::CGenericSensor::getExternalImageJPEGQuality ( ) const
inlineinherited

Definition at line 234 of file CGenericSensor.h.

◆ getObservations()

void CGenericSensor::getObservations ( TListObservations &  lstObjects)
inherited

Returns a list of enqueued objects, emptying it (thread-safe).

The objects must be freed by the invoker.

Definition at line 90 of file CGenericSensor.cpp.

References mrpt::hwdrivers::CGenericSensor::m_csObjList, and mrpt::hwdrivers::CGenericSensor::m_objList.

◆ getProcessRate()

double mrpt::hwdrivers::CGenericSensor::getProcessRate ( ) const
inlineinherited

Definition at line 84 of file CGenericSensor.h.

◆ GetRuntimeClass()

virtual const mrpt::hwdrivers::TSensorClassId* mrpt::hwdrivers::CGenericSensor::GetRuntimeClass ( ) const
pure virtualinherited

◆ getSensorLabel()

std::string mrpt::hwdrivers::CGenericSensor::getSensorLabel ( ) const
inlineinherited

Definition at line 86 of file CGenericSensor.h.

◆ getSerialPort()

std::string mrpt::hwdrivers::CCANBusReader::getSerialPort ( ) const
inline
See also
setSerialPort

Definition at line 114 of file CCANBusReader.h.

◆ getState()

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

The current state of the sensor.

Definition at line 82 of file CGenericSensor.h.

◆ initialize()

void CCANBusReader::initialize ( void  )
virtual

Set-up communication with the laser.

Called automatically by rawlog-grabber. If used manually, call after "loadConfig" and before "doProcess".

In this class this method does nothing, since the communications are setup at the first try from "doProcess" or "doProcessSimple".

Reimplemented from mrpt::hwdrivers::CGenericSensor.

Definition at line 459 of file CCANBusReader.cpp.

References m_received_frame_buffer, and tryToOpenComms().

◆ isVerboseEnabled()

bool mrpt::hwdrivers::CGenericSensor::isVerboseEnabled ( ) const
inlineinherited

Definition at line 93 of file CGenericSensor.h.

◆ loadConfig()

void CGenericSensor::loadConfig ( const mrpt::utils::CConfigFileBase &  cfg,
const std::string &  sect 
)
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.

Definition at line 131 of file CGenericSensor.cpp.

References mrpt::hwdrivers::CGenericSensor::loadConfig_sensorSpecific(), mrpt::hwdrivers::CGenericSensor::m_grab_decimation, mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter, mrpt::hwdrivers::CGenericSensor::m_max_queue_len, mrpt::hwdrivers::CGenericSensor::m_process_rate, mrpt::hwdrivers::CGenericSensor::m_sensorLabel, MRPT_END, MRPT_START, mrpt::utils::CConfigFileBase::read_double(), mrpt::utils::CConfigFileBase::read_int(), and mrpt::utils::CConfigFileBase::read_string().

◆ loadConfig_sensorSpecific()

void CCANBusReader::loadConfig_sensorSpecific ( const mrpt::utils::CConfigFileBase &  configSource,
const std::string &  iniSection 
)
protectedvirtual

See the class documentation at the top for expected parameters.

Implements mrpt::hwdrivers::CGenericSensor.

Definition at line 159 of file CCANBusReader.cpp.

References m_canbus_speed, m_canreader_timestamp, m_com_baudRate, m_com_port, m_nTries_connect, mrpt::utils::CConfigFileBase::read_bool(), mrpt::utils::CConfigFileBase::read_int(), and mrpt::utils::CConfigFileBase::read_string().

◆ queryVersion()

bool CCANBusReader::queryVersion ( bool  printOutVersion = false)
private

Definition at line 551 of file CCANBusReader.cpp.

References ASSERT_, m_mySerialPort, sendCommandToCANReader(), and waitForVersion().

Referenced by setupSerialComms().

◆ registerClass()

void 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.

Definition at line 120 of file CGenericSensor.cpp.

References mrpt::hwdrivers::TSensorClassId::className, and mrpt::hwdrivers::CGenericSensor::get_registered_sensor_classes().

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

◆ sendCANBusReaderSpeed()

bool CCANBusReader::sendCANBusReaderSpeed ( )
private

Sends the specified speed to the CAN Converter.

Definition at line 281 of file CCANBusReader.cpp.

References m_canbus_speed, RET_ERROR, sendCommandToCANReader(), and waitACK().

Referenced by tryToOpenComms().

◆ sendCommandToCANReader()

bool CCANBusReader::sendCommandToCANReader ( const uint8_t *  cmd,
const uint16_t  cmd_len,
bool  wait = true 
)
private

Definition at line 691 of file CCANBusReader.cpp.

References ASSERT_, m_mySerialPort, mrpt::system::os::memcpy(), MRPT_UNUSED_PARAM, and mrpt::hwdrivers::CSerialPort::Write().

Referenced by CANBusAutoPoll(), CANBusCloseChannel(), CANBusOpenChannel(), CANBusPoll(), CANBusX1(), queryVersion(), and sendCANBusReaderSpeed().

◆ setBaudRate()

void mrpt::hwdrivers::CCANBusReader::setBaudRate ( int  baud)
inline

Changes the serial port baud rate (call prior to 'doProcess'); valid values are 9600,38400 and 500000.

This is not needed if the configuration is loaded with "loadConfig".

See also
getBaudRate

Definition at line 119 of file CCANBusReader.h.

Referenced by setupSerialComms().

◆ setCANReaderSpeed()

void mrpt::hwdrivers::CCANBusReader::setCANReaderSpeed ( const unsigned int  speed)
inline

Sets the CAN reader speed when connecting to the CAN Bus.

Definition at line 131 of file CCANBusReader.h.

◆ setCANReaderTimeStamping()

void mrpt::hwdrivers::CCANBusReader::setCANReaderTimeStamping ( bool  setTimestamp = false)
inline

Enables/Disables the addition of a timestamp according to the arrival time to the converter (default=false) (call prior to 'doProcess') This is not needed if the configuration is loaded with "loadConfig".

Definition at line 126 of file CCANBusReader.h.

◆ setExternalImageFormat()

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 226 of file CGenericSensor.h.

◆ setExternalImageJPEGQuality()

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 231 of file CGenericSensor.h.

References quality.

◆ setPathForExternalImages()

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::CCameraSensor, mrpt::hwdrivers::CKinect, mrpt::hwdrivers::COpenNI2Sensor, mrpt::hwdrivers::COpenNI2_RGBD360, and mrpt::hwdrivers::CSwissRanger3DCamera.

Definition at line 217 of file CGenericSensor.h.

References MRPT_UNUSED_PARAM.

◆ setSensorLabel()

void mrpt::hwdrivers::CGenericSensor::setSensorLabel ( const std::string &  sensorLabel)
inlineinherited

Definition at line 87 of file CGenericSensor.h.

◆ setSerialPort()

void mrpt::hwdrivers::CCANBusReader::setSerialPort ( const std::string &  port)
inline

Changes the serial port to connect to (call prior to 'doProcess'), for example "COM1" or "ttyS0".

This is not needed if the configuration is loaded with "loadConfig".

Definition at line 111 of file CCANBusReader.h.

◆ setupSerialComms()

bool CCANBusReader::setupSerialComms ( )
private

Definition at line 474 of file CCANBusReader.cpp.

References ASSERT_, CANBusCloseChannel(), m_com_baudRate, m_mySerialPort, m_nTries_connect, m_nTries_current, mrpt::hwdrivers::CSerialPort::purgeBuffers(), queryVersion(), setBaudRate(), mrpt::hwdrivers::CSerialPort::setConfig(), and mrpt::system::sleep().

Referenced by tryToOpenComms().

◆ tryToOpenComms()

bool CCANBusReader::tryToOpenComms ( std::string *  err_msg = NULL)
private

Tries to open the com port and setup all the LMS protocol. Returns true if OK or already open.

Definition at line 189 of file CCANBusReader.cpp.

References CANBusOpenChannel(), mrpt::hwdrivers::CSerialPort::isOpen(), m_canbus_speed, m_com_port, m_mySerialPort, MRPT_LOG_ERROR_STREAM, mrpt::hwdrivers::CSerialPort::open(), RET_ERROR, sendCANBusReaderSpeed(), mrpt::hwdrivers::CSerialPort::setConfig(), mrpt::hwdrivers::CSerialPort::setSerialPortName(), mrpt::hwdrivers::CSerialPort::setTimeouts(), and setupSerialComms().

Referenced by doProcessSimple(), and initialize().

◆ waitACK()

bool CCANBusReader::waitACK ( uint16_t  timeout_ms)
private

Definition at line 564 of file CCANBusReader.cpp.

References mrpt::format(), m_mySerialPort, mrpt::hwdrivers::CSerialPort::Read(), RET_ERROR, mrpt::utils::CTicTac::Tac(), and mrpt::utils::CTicTac::Tic().

Referenced by CANBusAutoPoll(), CANBusOpenChannel(), CANBusPoll(), CANBusX1(), and sendCANBusReaderSpeed().

◆ waitContinuousSampleFrame()

bool CCANBusReader::waitContinuousSampleFrame ( uint8_t &  out_prio,
uint8_t &  out_pdu_format,
uint8_t &  out_pdu_spec,
uint8_t &  out_src_address,
uint8_t &  out_data_length,
uint16_t &  out_pgn,
std::vector< uint8_t > &  out_data,
std::vector< char > &  out_raw_frame 
)
private

Definition at line 352 of file CCANBusReader.cpp.

References mrpt::format(), hexCharToInt(), m_mySerialPort, MRPT_LOG_ERROR_STREAM, mrpt::hwdrivers::CSerialPort::Read(), and mrpt::system::sleep().

Referenced by doProcessSimple().

◆ waitForVersion()

bool CCANBusReader::waitForVersion ( uint16_t  timeout,
bool  printOutVersion = false 
)
private

Definition at line 595 of file CCANBusReader.cpp.

References m_mySerialPort, m_received_frame_buffer, mrpt::hwdrivers::CSerialPort::Read(), mrpt::utils::CTicTac::Tac(), and mrpt::utils::CTicTac::Tic().

Referenced by queryVersion().

◆ waitIncomingFrame()

bool CCANBusReader::waitIncomingFrame ( uint16_t  timeout)
private

Definition at line 644 of file CCANBusReader.cpp.

References hexCharToInt(), m_mySerialPort, m_received_frame_buffer, mrpt::hwdrivers::CSerialPort::Read(), mrpt::utils::CTicTac::Tac(), and mrpt::utils::CTicTac::Tic().

Member Data Documentation

◆ m_canbus_speed

int mrpt::hwdrivers::CCANBusReader::m_canbus_speed
private

Definition at line 91 of file CCANBusReader.h.

Referenced by loadConfig_sensorSpecific(), sendCANBusReaderSpeed(), and tryToOpenComms().

◆ m_CANBusChannel_isOpen

bool mrpt::hwdrivers::CCANBusReader::m_CANBusChannel_isOpen
private

Definition at line 93 of file CCANBusReader.h.

Referenced by CANBusCloseChannel(), CANBusOpenChannel(), and ~CCANBusReader().

◆ m_canreader_timestamp

bool mrpt::hwdrivers::CCANBusReader::m_canreader_timestamp
private

Definition at line 92 of file CCANBusReader.h.

Referenced by loadConfig_sensorSpecific().

◆ m_com_baudRate

int mrpt::hwdrivers::CCANBusReader::m_com_baudRate
private

Baudrate: 9600, 38400, 500000.

Definition at line 88 of file CCANBusReader.h.

Referenced by loadConfig_sensorSpecific(), and setupSerialComms().

◆ m_com_port

std::string mrpt::hwdrivers::CCANBusReader::m_com_port
private

If set to non-empty, the serial port will be attempted to be opened automatically when this class is first used to request data from the laser.

Definition at line 86 of file CCANBusReader.h.

Referenced by loadConfig_sensorSpecific(), and tryToOpenComms().

◆ m_external_images_format

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 131 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), and mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific().

◆ m_external_images_jpeg_quality

unsigned int mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality
protectedinherited

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

Definition at line 132 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), and mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific().

◆ m_grab_decimation

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 118 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::appendObservations(), and mrpt::hwdrivers::CGenericSensor::loadConfig().

◆ m_grab_decimation_counter

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter
protectedinherited

Used when "m_grab_decimation" is enabled.

Definition at line 123 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::appendObservations(), and mrpt::hwdrivers::CGenericSensor::loadConfig().

◆ m_max_queue_len

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

See CGenericSensor.

Definition at line 117 of file CGenericSensor.h.

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

◆ m_mySerialPort

CSerialPort* mrpt::hwdrivers::CCANBusReader::m_mySerialPort
private

Will be !=NULL only if I created it, so I must destroy it at the end.

Definition at line 87 of file CCANBusReader.h.

Referenced by queryVersion(), sendCommandToCANReader(), setupSerialComms(), tryToOpenComms(), waitACK(), waitContinuousSampleFrame(), waitForVersion(), waitIncomingFrame(), and ~CCANBusReader().

◆ m_nTries_connect

unsigned int mrpt::hwdrivers::CCANBusReader::m_nTries_connect
private

Default = 1.

Definition at line 89 of file CCANBusReader.h.

Referenced by loadConfig_sensorSpecific(), and setupSerialComms().

◆ m_nTries_current

unsigned int mrpt::hwdrivers::CCANBusReader::m_nTries_current
private

Definition at line 90 of file CCANBusReader.h.

Referenced by setupSerialComms().

◆ m_path_for_external_images

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 130 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), and mrpt::hwdrivers::CSwissRanger3DCamera::setPathForExternalImages().

◆ m_process_rate

double mrpt::hwdrivers::CGenericSensor::m_process_rate
protectedinherited

See CGenericSensor.

Definition at line 116 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGyroKVHDSP3000::initialize(), and mrpt::hwdrivers::CGenericSensor::loadConfig().

◆ m_received_frame_buffer

uint8_t mrpt::hwdrivers::CCANBusReader::m_received_frame_buffer[2000]
private

Definition at line 84 of file CCANBusReader.h.

Referenced by CCANBusReader(), initialize(), waitForVersion(), and waitIncomingFrame().

◆ m_sensorLabel

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

See CGenericSensor.

Definition at line 119 of file CGenericSensor.h.

Referenced by CCANBusReader(), mrpt::hwdrivers::CGPSInterface::CGPSInterface(), mrpt::hwdrivers::CGyroKVHDSP3000::CGyroKVHDSP3000(), mrpt::hwdrivers::CHokuyoURG::CHokuyoURG(), mrpt::hwdrivers::CIMUIntersense::CIMUIntersense(), mrpt::hwdrivers::CIMUXSens::CIMUXSens(), mrpt::hwdrivers::CIMUXSens_MT4::CIMUXSens_MT4(), mrpt::hwdrivers::CKinect::CKinect(), mrpt::hwdrivers::CNationalInstrumentsDAQ::CNationalInstrumentsDAQ(), mrpt::hwdrivers::CRoboPeakLidar::CRoboPeakLidar(), mrpt::hwdrivers::CSickLaserSerial::CSickLaserSerial(), mrpt::hwdrivers::CSickLaserUSB::CSickLaserUSB(), mrpt::hwdrivers::CSkeletonTracker::CSkeletonTracker(), mrpt::hwdrivers::CSwissRanger3DCamera::CSwissRanger3DCamera(), mrpt::hwdrivers::CVelodyneScanner::CVelodyneScanner(), mrpt::hwdrivers::CIMUXSens_MT4::doProcess(), mrpt::hwdrivers::CIMUXSens::doProcess(), mrpt::hwdrivers::CSkeletonTracker::doProcess(), mrpt::hwdrivers::CGyroKVHDSP3000::doProcess(), mrpt::hwdrivers::CIMUIntersense::doProcess(), mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::CKinect::getNextObservation(), mrpt::hwdrivers::CVelodyneScanner::getNextObservation(), mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread(), mrpt::hwdrivers::CGenericSensor::loadConfig(), mrpt::hwdrivers::CSkeletonTracker::processPreview(), mrpt::hwdrivers::C2DRangeFinderAbstract::processPreview(), and mrpt::hwdrivers::CSkeletonTracker::processPreviewNone().

◆ m_state

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

Definition at line 125 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGyroKVHDSP3000::CGyroKVHDSP3000(), mrpt::hwdrivers::CIMUXSens_MT4::doProcess(), mrpt::hwdrivers::CIMUXSens::doProcess(), mrpt::hwdrivers::CSkeletonTracker::doProcess(), mrpt::hwdrivers::CSwissRanger3DCamera::doProcess(), mrpt::hwdrivers::CIMUIntersense::doProcess(), mrpt::hwdrivers::CGyroKVHDSP3000::doProcess(), mrpt::hwdrivers::C2DRangeFinderAbstract::doProcess(), mrpt::hwdrivers::CGPSInterface::doProcess(), mrpt::hwdrivers::CNationalInstrumentsDAQ::doProcess(), mrpt::hwdrivers::CKinect::doProcess(), mrpt::hwdrivers::CVelodyneScanner::doProcess(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow(), mrpt::hwdrivers::CVelodyneScanner::getNextObservation(), mrpt::hwdrivers::CIMUXSens_MT4::initialize(), mrpt::hwdrivers::CIMUXSens::initialize(), mrpt::hwdrivers::CSkeletonTracker::initialize(), mrpt::hwdrivers::CIMUIntersense::initialize(), mrpt::hwdrivers::CGyroKVHDSP3000::initialize(), mrpt::hwdrivers::CVelodyneScanner::initialize(), mrpt::hwdrivers::CNationalInstrumentsDAQ::readFromDAQ(), and mrpt::hwdrivers::CIMUXSens::searchPortAndConnect().

◆ m_verbose

bool mrpt::hwdrivers::CGenericSensor::m_verbose
protectedinherited

Definition at line 126 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::CGenericSensor(), mrpt::hwdrivers::CRoboPeakLidar::checkCOMMs(), mrpt::hwdrivers::CNTRIPEmitter::doProcess(), mrpt::hwdrivers::CGPSInterface::doProcess(), mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread(), mrpt::hwdrivers::CIMUXSens_MT4::initialize(), mrpt::hwdrivers::CHokuyoURG::initialize(), mrpt::hwdrivers::CVelodyneScanner::internal_read_PCAP_packet(), mrpt::hwdrivers::CGPSInterface::JAVAD_sendMessage(), mrpt::hwdrivers::CGPSInterface::legacy_topcon_setup_commands(), mrpt::hwdrivers::CGPSInterface::OnConnectionEstablished(), mrpt::hwdrivers::CGPSInterface::OnConnectionShutdown(), mrpt::hwdrivers::CNationalInstrumentsDAQ::stop(), and mrpt::hwdrivers::CGPSInterface::tryToOpenTheCOM().



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