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mrpt::hwdrivers::CHokuyoURG Class Referenceabstract

Detailed Description

This software driver implements the protocol SCIP-2.0 for interfacing HOKUYO URG/UTM/UXM/UST laser scanners (USB or Ethernet).

Refer to the example code HOKUYO_laser_test and to example rawlog-grabber config files

See also the application "rawlog-grabber" for a ready-to-use application to gather data from the scanner.

PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
-------------------------------------------------------
[supplied_section_name]
HOKUYO_motorSpeed_rpm=600
#HOKUYO_HS_mode = false // Optional (un-comment line if used):
Set/unset the High-sensitivity mode (not on all models/firmwares!)
# Uncomment serial port or IP address, depending on the Hokuyo model
(serial/USB vs. Ethernet):
COM_port_WIN = COM3 // Serial port name in Windows
COM_port_LIN = ttyS0 // Serial port name in GNU/Linux
#IP_DIR = 192.168.0.10 // Uncommented this and "PORT_DIR" if the
used HOKUYO is connected by Ethernet instead of USB
#PORT_DIR = 10940 // Default value: 10940
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
#disable_firmware_timestamp = true // Uncomment to use PC time instead
of laser time
# Optional: reduced FOV:
# reduced_fov = 25 // Deg
# Sets decimation of scans directly at the Hokuyo scanner.
# 0=means send all scans, 1=means send 50% of scans, etc.
# scan_interval = 0
#preview = true // Enable GUI visualization of captured data
# Optional: Exclusion zones to avoid the robot seeing itself:
#exclusionZone1_x = 0.20 0.30 0.30 0.20
#exclusionZone1_y = 0.20 0.30 0.30 0.20
# Optional: Exclusion zones to avoid the robot seeing itself:
#exclusionAngles1_ini = 20 // Deg
#exclusionAngles1_end = 25 // Deg

Definition at line 75 of file CHokuyoURG.h.

#include <mrpt/hwdrivers/CHokuyoURG.h>

Inheritance diagram for mrpt::hwdrivers::CHokuyoURG:
Inheritance graph

Classes

struct  TSensorInfo
 Used in CHokuyoURG::displayVersionInfo. More...
 

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

 CHokuyoURG ()
 Constructor. More...
 
virtual ~CHokuyoURG ()
 Destructor: turns the laser off. More...
 
void doProcessSimple (bool &outThereIsObservation, mrpt::obs::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. More...
 
bool turnOn ()
 Enables the scanning mode (which may depend on the specific laser device); this must be called before asking for observations to assure that the protocol has been initializated. More...
 
bool turnOff ()
 Disables the scanning mode (this can be used to turn the device in low energy mode, if available) More...
 
void purgeBuffers ()
 Empties the RX buffers of the serial port. More...
 
void setSerialPort (const std::string &port_name)
 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...
 
void setIPandPort (const std::string &ip, const unsigned int &port)
 Set the ip direction and port to connect using Ethernet communication. More...
 
const std::string getSerialPort ()
 Returns the currently set serial port. More...
 
void setReducedFOV (const double fov)
 If called (before calling "turnOn"), the field of view of the laser is reduced to the given range (in radians), discarding the rest of measures. More...
 
bool setHighSensitivityMode (bool enabled)
 Changes the high sensitivity mode (HS) (default: false) More...
 
bool setIntensityMode (bool enabled)
 If true scans will capture intensity. More...
 
void setScanInterval (unsigned int skipScanCount)
 Set the skip scan count (0 means send all scans). More...
 
unsigned int getScanInterval () const
 
void sendCmd (const char *str)
 
void showPreview (bool enable=true)
 Enables GUI visualization in real-time. More...
 
void bindIO (mrpt::utils::CStream *streamIO)
 Binds the object to a given I/O channel. More...
 
void getObservation (bool &outThereIsObservation, mrpt::obs::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). More...
 
void doProcess ()
 Main method for a CGenericSensor. 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"

Exceptions
Thismethod throws an exception with a descriptive message if some critical parameter is missing or has an invalid value.
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 CGenericSensorcreateSensor (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

bool ensureStreamIsOpen ()
 Returns true if there is a valid stream bound to the laser scanner, otherwise it first try to open the serial port "m_com_port". More...
 
void loadConfig_sensorSpecific (const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection)
 See the class documentation at the top for expected parameters. More...
 
void loadCommonParams (const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection)
 Should be call by derived classes at "loadConfig" (loads exclusion areas AND exclusion angles). More...
 
void filterByExclusionAreas (mrpt::obs::CObservation2DRangeScan &obs) const
 Mark as invalid those points which (x,y) coordinates fall within the exclusion polygons. More...
 
void filterByExclusionAngles (mrpt::obs::CObservation2DRangeScan &obs) const
 Mark as invalid those ranges in a set of forbiden angle ranges. More...
 
void processPreview (const mrpt::obs::CObservation2DRangeScan &obs)
 Must be called inside the capture method to allow optional GUI preview of scans. 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

std::string m_rcv_data
 temp buffer for incoming data packets More...
 
double m_reduced_fov
 Used to reduce artificially the interval of scan ranges. More...
 
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...
 
std::string m_ip_dir
 If set to non-empty and m_port_dir too, the program will try to connect to a Hokuyo using Ethernet communication. More...
 
unsigned int m_port_dir
 If set to non-empty and m_ip_dir too, the program will try to connect to a Hokuyo using Ethernet communication. More...
 
TSensorInfo m_sensor_info
 The information gathered when the laser is first open. More...
 
bool m_I_am_owner_serial_port
 
uint32_t m_timeStartUI
 Time of the first data packet, for synchronization purposes. More...
 
int m_timeStartSynchDelay
 Counter to discard to first few packets before setting the correspondence between device and computer timestamps. More...
 
mrpt::system::TTimeStamp m_timeStartTT
 
bool m_disable_firmware_timestamp
 
bool m_intensity
 Get intensity from lidar scan (default: false) More...
 
unsigned int m_scan_interval
 
utils::CStreamm_stream
 The I/O channel (will be NULL if not bound). More...
 
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 enableSCIP20 ()
 Enables the SCIP2.0 protocol (this must be called at the very begining!). More...
 
bool setHighBaudrate ()
 Passes to 115200bps bitrate. More...
 
bool switchLaserOn ()
 Switchs the laser on. More...
 
bool switchLaserOff ()
 Switchs the laser off. More...
 
bool setMotorSpeed (int motoSpeed_rpm)
 Changes the motor speed in rpm's (default 600rpm) More...
 
bool displayVersionInfo ()
 Ask to the device, and print to the debug stream, details about the firmware version,serial number,... More...
 
bool displaySensorInfo (CHokuyoURG::TSensorInfo *out_data=NULL)
 Ask to the device, and print to the debug stream, details about the sensor model. More...
 
bool startScanningMode ()
 Start the continuous scanning mode, using parameters stored in the object (loaded from the .ini file). More...
 
void initialize ()
 Turns the laser on. More...
 
bool receiveResponse (char &rcv_status0, char &rcv_status1)
 Waits for a response from the device. More...
 
bool assureBufferHasBytes (const size_t nDesiredBytes)
 Assures a minimum number of bytes in the input buffer, reading from the serial port only if required. More...
 

Private Attributes

int m_firstRange
 The first and last ranges to consider from the scan. More...
 
int m_lastRange
 
int m_motorSpeed_rpm
 The motor speed (default=600rpm) More...
 
poses::CPose3D m_sensorPose
 The sensor 6D pose: More...
 
mrpt::utils::circular_buffer
< uint8_t
m_rx_buffer
 Auxiliary buffer for readings. More...
 
std::string m_lastSentMeasCmd
 The last sent measurement command (MDXXX), including the last 0x0A. More...
 
bool m_highSensMode
 High sensitivity [HS] mode (default: false) More...
 
mrpt::gui::CDisplayWindow3D::Ptr m_win
 

Member Typedef Documentation

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

Definition at line 103 of file CGenericSensor.h.

Definition at line 102 of file CGenericSensor.h.

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

Definition at line 68 of file CGenericSensor.h.

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

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

CHokuyoURG::CHokuyoURG ( )

Constructor.

Definition at line 32 of file CHokuyoURG.cpp.

CHokuyoURG::~CHokuyoURG ( )
virtual

Destructor: turns the laser off.

Definition at line 42 of file CHokuyoURG.cpp.

References m_I_am_owner_serial_port, mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream, m_win, and turnOff().

Member Function Documentation

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

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().

bool CHokuyoURG::assureBufferHasBytes ( const size_t  nDesiredBytes)
private

Assures a minimum number of bytes in the input buffer, reading from the serial port only if required.

Returns
false if the number of bytes are not available, even after trying to fetch more data from the serial port.

Definition at line 381 of file CHokuyoURG.cpp.

References ASSERT_, mrpt::utils::circular_buffer< T >::available(), mrpt::utils::circular_buffer< T >::capacity(), m_ip_dir, m_rx_buffer, mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream, min, mrpt::utils::circular_buffer< T >::push_many(), mrpt::utils::CClientTCPSocket::readAsync(), mrpt::utils::CStream::ReadBuffer(), and mrpt::utils::circular_buffer< T >::size().

Referenced by receiveResponse().

void C2DRangeFinderAbstract::bindIO ( mrpt::utils::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

Definition at line 46 of file C2DRangeFinderAbstract.cpp.

References mrpt::synch::CCriticalSection::enter(), mrpt::synch::CCriticalSection::leave(), mrpt::hwdrivers::C2DRangeFinderAbstract::m_csChangeStream, and mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream.

Referenced by ensureStreamIsOpen().

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:

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().

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.

bool CHokuyoURG::displaySensorInfo ( CHokuyoURG::TSensorInfo out_data = NULL)
private
bool CHokuyoURG::displayVersionInfo ( )
private

Ask to the device, and print to the debug stream, details about the firmware version,serial number,...

Returns
false on any error

Definition at line 656 of file CHokuyoURG.cpp.

References __CURRENT_FUNCTION_NAME__, ensureStreamIsOpen(), m_rcv_data, MRPT_LOG_DEBUG, MRPT_LOG_ERROR_STREAM, MRPT_LOG_INFO_STREAM, receiveResponse(), and sendCmd().

Referenced by turnOn().

void C2DRangeFinderAbstract::doProcess ( )
virtualinherited
void CHokuyoURG::doProcessSimple ( bool &  outThereIsObservation,
mrpt::obs::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.

Definition at line 66 of file CHokuyoURG.cpp.

References mrpt::obs::CObservation2DRangeScan::aperture, mrpt::obs::gnss::b1, mrpt::obs::gnss::b2, mrpt::obs::gnss::b3, mrpt::hwdrivers::CHokuyoURG::TSensorInfo::d_max, ensureStreamIsOpen(), mrpt::hwdrivers::C2DRangeFinderAbstract::filterByExclusionAngles(), mrpt::hwdrivers::C2DRangeFinderAbstract::filterByExclusionAreas(), m_disable_firmware_timestamp, m_firstRange, m_intensity, m_lastRange, M_PI, m_rcv_data, m_sensor_info, mrpt::hwdrivers::CGenericSensor::m_sensorLabel, m_sensorPose, mrpt::hwdrivers::CGenericSensor::m_state, m_timeStartSynchDelay, m_timeStartTT, m_timeStartUI, mrpt::obs::CObservation2DRangeScan::maxRange, MINIMUM_PACKETS_TO_SET_TIMESTAMP_REFERENCE, MRPT_LOG_ERROR_STREAM, mrpt::system::now(), mrpt::hwdrivers::C2DRangeFinderAbstract::processPreview(), receiveResponse(), mrpt::obs::CObservation2DRangeScan::resizeScan(), mrpt::obs::CObservation2DRangeScan::rightToLeft, mrpt::obs::CObservation2DRangeScan::scan, mrpt::hwdrivers::CHokuyoURG::TSensorInfo::scans_per_360deg, mrpt::system::secondsToTimestamp(), mrpt::obs::CObservation::sensorLabel, mrpt::obs::CObservation2DRangeScan::sensorPose, mrpt::obs::CObservation2DRangeScan::setScanHasIntensity(), mrpt::obs::CObservation2DRangeScan::setScanIntensity(), mrpt::obs::CObservation2DRangeScan::setScanRange(), mrpt::obs::CObservation2DRangeScan::setScanRangeValidity(), mrpt::hwdrivers::CGenericSensor::ssWorking, mrpt::obs::CObservation2DRangeScan::stdError, and mrpt::obs::CObservation::timestamp.

bool CHokuyoURG::enableSCIP20 ( )
private

Enables the SCIP2.0 protocol (this must be called at the very begining!).

Returns
false on any error

Definition at line 524 of file CHokuyoURG.cpp.

References __CURRENT_FUNCTION_NAME__, ensureStreamIsOpen(), MRPT_LOG_DEBUG, MRPT_LOG_ERROR_STREAM, receiveResponse(), and sendCmd().

Referenced by turnOn().

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.

bool CHokuyoURG::ensureStreamIsOpen ( )
protected
void C2DRangeFinderAbstract::filterByExclusionAngles ( mrpt::obs::CObservation2DRangeScan obs) const
protectedinherited
void C2DRangeFinderAbstract::filterByExclusionAreas ( mrpt::obs::CObservation2DRangeScan obs) const
protectedinherited
unsigned int mrpt::hwdrivers::CGenericSensor::getExternalImageJPEGQuality ( ) const
inlineinherited

Definition at line 234 of file CGenericSensor.h.

void C2DRangeFinderAbstract::getObservation ( bool &  outThereIsObservation,
mrpt::obs::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).

Definition at line 56 of file C2DRangeFinderAbstract.cpp.

References mrpt::synch::CCriticalSection::enter(), mrpt::synch::CCriticalSection::leave(), mrpt::hwdrivers::C2DRangeFinderAbstract::m_csLastObservation, mrpt::hwdrivers::C2DRangeFinderAbstract::m_hardwareError, mrpt::hwdrivers::C2DRangeFinderAbstract::m_lastObservation, and mrpt::hwdrivers::C2DRangeFinderAbstract::m_lastObservationIsNew.

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.

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

Definition at line 84 of file CGenericSensor.h.

virtual const mrpt::hwdrivers::TSensorClassId* mrpt::hwdrivers::CGenericSensor::GetRuntimeClass ( ) const
pure virtualinherited
unsigned int CHokuyoURG::getScanInterval ( ) const

Definition at line 589 of file CHokuyoURG.cpp.

References m_scan_interval.

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

Definition at line 86 of file CGenericSensor.h.

const std::string mrpt::hwdrivers::CHokuyoURG::getSerialPort ( )
inline

Returns the currently set serial port.

See Also
setSerialPort

Definition at line 216 of file CHokuyoURG.h.

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

The current state of the sensor.

Definition at line 82 of file CGenericSensor.h.

void CHokuyoURG::initialize ( void  )
privatevirtual

Turns the laser on.

Reimplemented from mrpt::hwdrivers::CGenericSensor.

Definition at line 913 of file CHokuyoURG.cpp.

References ensureStreamIsOpen(), mrpt::hwdrivers::CGenericSensor::m_verbose, MRPT_LOG_ERROR, and turnOn().

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

Definition at line 93 of file CGenericSensor.h.

void C2DRangeFinderAbstract::loadCommonParams ( const mrpt::utils::CConfigFileBase configSource,
const std::string iniSection 
)
protectedinherited

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.

This also loads any other common params (e.g. 'preview')

See Also
filterByExclusionAreas

Definition at line 102 of file C2DRangeFinderAbstract.cpp.

References ASSERT_, ASSERTMSG_, DEG2RAD, mrpt::format(), mrpt::hwdrivers::C2DRangeFinderAbstract::m_lstExclusionAngles, mrpt::hwdrivers::C2DRangeFinderAbstract::m_lstExclusionPolys, M_PI, mrpt::hwdrivers::C2DRangeFinderAbstract::m_showPreview, mrpt::utils::CConfigFileBase::read_bool(), mrpt::utils::CConfigFileBase::read_double(), and mrpt::utils::CConfigFileBase::read_vector().

Referenced by mrpt::hwdrivers::CSickLaserUSB::loadConfig_sensorSpecific(), mrpt::hwdrivers::CRoboPeakLidar::loadConfig_sensorSpecific(), mrpt::hwdrivers::CSickLaserSerial::loadConfig_sensorSpecific(), and loadConfig_sensorSpecific().

void CGenericSensor::loadConfig ( const mrpt::utils::CConfigFileBase configSource,
const std::string section 
)
inherited
void CHokuyoURG::loadConfig_sensorSpecific ( const mrpt::utils::CConfigFileBase configSource,
const std::string iniSection 
)
protectedvirtual
void C2DRangeFinderAbstract::processPreview ( const mrpt::obs::CObservation2DRangeScan obs)
protectedinherited
void CHokuyoURG::purgeBuffers ( )
bool CHokuyoURG::receiveResponse ( char &  rcv_status0,
char &  rcv_status1 
)
private
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().

void CHokuyoURG::sendCmd ( const char *  str)
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.

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.

bool CHokuyoURG::setHighBaudrate ( )
private

Passes to 115200bps bitrate.

Returns
false on any error

Definition at line 357 of file CHokuyoURG.cpp.

References ensureStreamIsOpen(), MRPT_LOG_DEBUG, MRPT_LOG_ERROR, receiveResponse(), and sendCmd().

Referenced by turnOn().

bool CHokuyoURG::setHighSensitivityMode ( bool  enabled)

Changes the high sensitivity mode (HS) (default: false)

Returns
false on any error

Definition at line 624 of file CHokuyoURG.cpp.

References __CURRENT_FUNCTION_NAME__, ensureStreamIsOpen(), MRPT_LOG_DEBUG, MRPT_LOG_DEBUG_FMT, MRPT_LOG_ERROR_STREAM, receiveResponse(), sendCmd(), and mrpt::system::os::sprintf().

Referenced by turnOn().

bool CHokuyoURG::setIntensityMode ( bool  enabled)

If true scans will capture intensity.

(default: false) Should not be called while scanning.

Returns
false on any error

Definition at line 651 of file CHokuyoURG.cpp.

References m_intensity.

void mrpt::hwdrivers::CHokuyoURG::setIPandPort ( const std::string ip,
const unsigned int port 
)
inline

Set the ip direction and port to connect using Ethernet communication.

Definition at line 210 of file CHokuyoURG.h.

bool CHokuyoURG::setMotorSpeed ( int  motoSpeed_rpm)
private

Changes the motor speed in rpm's (default 600rpm)

Returns
false on any error

Definition at line 591 of file CHokuyoURG.cpp.

References __CURRENT_FUNCTION_NAME__, ensureStreamIsOpen(), MRPT_LOG_DEBUG, MRPT_LOG_DEBUG_FMT, MRPT_LOG_ERROR_STREAM, receiveResponse(), sendCmd(), and mrpt::system::os::sprintf().

Referenced by turnOn().

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.

void mrpt::hwdrivers::CHokuyoURG::setReducedFOV ( const double  fov)
inline

If called (before calling "turnOn"), the field of view of the laser is reduced to the given range (in radians), discarding the rest of measures.

Call with "0" to disable this reduction again (the default).

Definition at line 221 of file CHokuyoURG.h.

void CHokuyoURG::setScanInterval ( unsigned int  skipScanCount)

Set the skip scan count (0 means send all scans).

Must be set before initialize()

Definition at line 586 of file CHokuyoURG.cpp.

References m_scan_interval.

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

Definition at line 87 of file CGenericSensor.h.

void mrpt::hwdrivers::CHokuyoURG::setSerialPort ( const std::string port_name)
inline

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 208 of file CHokuyoURG.h.

void mrpt::hwdrivers::C2DRangeFinderAbstract::showPreview ( bool  enable = true)
inlineinherited

Enables GUI visualization in real-time.

Definition at line 95 of file C2DRangeFinderAbstract.h.

bool CHokuyoURG::startScanningMode ( )
private

Start the continuous scanning mode, using parameters stored in the object (loaded from the .ini file).

Maps to SCIP2.0 commands MD (no intensity) or ME (intensity). After this command the device will start to send scans until switchLaserOff() is called.

Returns
false on any error

Definition at line 775 of file CHokuyoURG.cpp.

References __CURRENT_FUNCTION_NAME__, ensureStreamIsOpen(), m_firstRange, m_intensity, m_lastRange, m_scan_interval, MRPT_LOG_DEBUG, MRPT_LOG_ERROR_STREAM, receiveResponse(), sendCmd(), and mrpt::system::os::sprintf().

Referenced by turnOn().

bool CHokuyoURG::switchLaserOff ( )
private

Switchs the laser off.

Returns
false on any error

Definition at line 565 of file CHokuyoURG.cpp.

References __CURRENT_FUNCTION_NAME__, ensureStreamIsOpen(), MRPT_LOG_DEBUG, MRPT_LOG_ERROR_STREAM, receiveResponse(), and sendCmd().

Referenced by turnOff(), and turnOn().

bool CHokuyoURG::switchLaserOn ( )
private

Switchs the laser on.

Returns
false on any error

Definition at line 544 of file CHokuyoURG.cpp.

References __CURRENT_FUNCTION_NAME__, ensureStreamIsOpen(), MRPT_LOG_DEBUG, MRPT_LOG_ERROR_STREAM, receiveResponse(), and sendCmd().

Referenced by turnOn().

bool CHokuyoURG::turnOff ( )
virtual

Disables the scanning mode (this can be used to turn the device in low energy mode, if available)

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

Implements mrpt::hwdrivers::C2DRangeFinderAbstract.

Definition at line 349 of file CHokuyoURG.cpp.

References switchLaserOff().

Referenced by ~CHokuyoURG().

bool CHokuyoURG::turnOn ( )
virtual

Member Data Documentation

std::string mrpt::hwdrivers::CHokuyoURG::m_com_port
protected

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 256 of file CHokuyoURG.h.

Referenced by ensureStreamIsOpen(), and loadConfig_sensorSpecific().

bool mrpt::hwdrivers::CHokuyoURG::m_disable_firmware_timestamp
protected

Definition at line 276 of file CHokuyoURG.h.

Referenced by doProcessSimple(), and loadConfig_sensorSpecific().

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().

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().

int mrpt::hwdrivers::CHokuyoURG::m_firstRange
private

The first and last ranges to consider from the scan.

Definition at line 94 of file CHokuyoURG.h.

Referenced by doProcessSimple(), startScanningMode(), and turnOn().

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().

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().

bool mrpt::hwdrivers::CHokuyoURG::m_highSensMode
private

High sensitivity [HS] mode (default: false)

Definition at line 106 of file CHokuyoURG.h.

Referenced by loadConfig_sensorSpecific(), and turnOn().

bool mrpt::hwdrivers::CHokuyoURG::m_I_am_owner_serial_port
protected

Definition at line 268 of file CHokuyoURG.h.

Referenced by ensureStreamIsOpen(), and ~CHokuyoURG().

bool mrpt::hwdrivers::CHokuyoURG::m_intensity
protected

Get intensity from lidar scan (default: false)

Definition at line 278 of file CHokuyoURG.h.

Referenced by doProcessSimple(), loadConfig_sensorSpecific(), setIntensityMode(), and startScanningMode().

std::string mrpt::hwdrivers::CHokuyoURG::m_ip_dir
protected

If set to non-empty and m_port_dir too, the program will try to connect to a Hokuyo using Ethernet communication.

Definition at line 260 of file CHokuyoURG.h.

Referenced by assureBufferHasBytes(), ensureStreamIsOpen(), loadConfig_sensorSpecific(), purgeBuffers(), and turnOn().

int mrpt::hwdrivers::CHokuyoURG::m_lastRange
private

Definition at line 94 of file CHokuyoURG.h.

Referenced by doProcessSimple(), startScanningMode(), and turnOn().

std::string mrpt::hwdrivers::CHokuyoURG::m_lastSentMeasCmd
private

The last sent measurement command (MDXXX), including the last 0x0A.

Definition at line 103 of file CHokuyoURG.h.

Referenced by receiveResponse(), and sendCmd().

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().

int mrpt::hwdrivers::CHokuyoURG::m_motorSpeed_rpm
private

The motor speed (default=600rpm)

Definition at line 96 of file CHokuyoURG.h.

Referenced by loadConfig_sensorSpecific(), and turnOn().

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().

unsigned int mrpt::hwdrivers::CHokuyoURG::m_port_dir
protected

If set to non-empty and m_ip_dir too, the program will try to connect to a Hokuyo using Ethernet communication.

Definition at line 263 of file CHokuyoURG.h.

Referenced by ensureStreamIsOpen(), and loadConfig_sensorSpecific().

double mrpt::hwdrivers::CGenericSensor::m_process_rate
protectedinherited
std::string mrpt::hwdrivers::CHokuyoURG::m_rcv_data
protected

temp buffer for incoming data packets

Definition at line 243 of file CHokuyoURG.h.

Referenced by displaySensorInfo(), displayVersionInfo(), doProcessSimple(), and receiveResponse().

double mrpt::hwdrivers::CHokuyoURG::m_reduced_fov
protected

Used to reduce artificially the interval of scan ranges.

Definition at line 251 of file CHokuyoURG.h.

Referenced by loadConfig_sensorSpecific(), and turnOn().

mrpt::utils::circular_buffer<uint8_t> mrpt::hwdrivers::CHokuyoURG::m_rx_buffer
private

Auxiliary buffer for readings.

Definition at line 100 of file CHokuyoURG.h.

Referenced by assureBufferHasBytes(), and receiveResponse().

unsigned int mrpt::hwdrivers::CHokuyoURG::m_scan_interval
protected
TSensorInfo mrpt::hwdrivers::CHokuyoURG::m_sensor_info
protected

The information gathered when the laser is first open.

Definition at line 266 of file CHokuyoURG.h.

Referenced by doProcessSimple(), and turnOn().

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

See CGenericSensor.

Definition at line 119 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CCANBusReader::CCANBusReader(), mrpt::hwdrivers::CGPSInterface::CGPSInterface(), 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::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::CIMUIntersense::doProcess(), mrpt::hwdrivers::CGyroKVHDSP3000::doProcess(), mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CCANBusReader::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), 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().

poses::CPose3D mrpt::hwdrivers::CHokuyoURG::m_sensorPose
private

The sensor 6D pose:

Definition at line 98 of file CHokuyoURG.h.

Referenced by doProcessSimple(), and loadConfig_sensorSpecific().

TSensorState mrpt::hwdrivers::CGenericSensor::m_state
protectedinherited
utils::CStream* mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream
protectedinherited
int mrpt::hwdrivers::CHokuyoURG::m_timeStartSynchDelay
protected

Counter to discard to first few packets before setting the correspondence between device and computer timestamps.

Definition at line 274 of file CHokuyoURG.h.

Referenced by doProcessSimple().

mrpt::system::TTimeStamp mrpt::hwdrivers::CHokuyoURG::m_timeStartTT
protected

Definition at line 275 of file CHokuyoURG.h.

Referenced by doProcessSimple().

uint32_t mrpt::hwdrivers::CHokuyoURG::m_timeStartUI
protected

Time of the first data packet, for synchronization purposes.

Definition at line 271 of file CHokuyoURG.h.

Referenced by doProcessSimple().

bool mrpt::hwdrivers::CGenericSensor::m_verbose
protectedinherited
mrpt::gui::CDisplayWindow3D::Ptr mrpt::hwdrivers::CHokuyoURG::m_win
private

Definition at line 107 of file CHokuyoURG.h.

Referenced by ~CHokuyoURG().




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