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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 25 of file CImpinjRFID.h.

#include <mrpt/hwdrivers/CImpinjRFID.h>

Inheritance diagram for mrpt::hwdrivers::CImpinjRFID:
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

 CImpinjRFID ()
 Default constructor. More...
 
virtual ~CImpinjRFID ()
 
void connect ()
 Connect to the reader. More...
 
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.
More...
 
void initialize ()
 This method can or cannot be implemented in the derived class, depending on the need for it. More...
 
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.
More...
 
bool getObservation (mrpt::obs::CObservationRFID &obs)
 Gets the information of the tags as a timestamped observation NOTE: Deprecated, use getObservations instead. More...
 
void closeReader ()
 Close the connection to the reader. 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

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

void startDriver ()
 start the external driver More...
 

Static Private Member Functions

static void dummy_startDriver (CImpinjRFID *o)
 

Private Attributes

float pose_x_1
 Poses (Antenna 1) More...
 
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) More...
 
float pose_y_2
 
float pose_z_2
 
float pose_yaw_2
 
float pose_pitch_2
 
float pose_roll_2
 
int port
 Server port. More...
 
std::string IPm
 IP of the module (usually 127.0.0.1) More...
 
std::string reader_name
 Reader name. More...
 
mrpt::utils::CServerTCPSocketserver
 Server socket (listens for the incoming connection) More...
 
mrpt::utils::CClientTCPSocketclient
 Client socket (handles the connection to the client) More...
 
std::string driver_path
 Driver executable path. More...
 
bool connected
 Connection status. More...
 

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

CImpinjRFID::CImpinjRFID ( )

Default constructor.

Definition at line 20 of file CImpinjRFID.cpp.

CImpinjRFID::~CImpinjRFID ( )
virtual

Definition at line 27 of file CImpinjRFID.cpp.

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().

void CImpinjRFID::closeReader ( )

Close the connection to the reader.

Definition at line 183 of file CImpinjRFID.cpp.

References mrpt::system::os::strcpy().

void CImpinjRFID::connect ( )

Connect to the reader.

Definition at line 107 of file CImpinjRFID.cpp.

References mrpt::system::sleep().

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.

void 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.

Definition at line 193 of file CImpinjRFID.cpp.

References mrpt::obs::CObservationRFID::Create(), and mrpt::obs::utils::getObservation().

void CImpinjRFID::dummy_startDriver ( CImpinjRFID o)
staticprivate

Definition at line 50 of file CImpinjRFID.cpp.

References startDriver().

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.

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

Definition at line 234 of file CGenericSensor.h.

bool CImpinjRFID::getObservation ( mrpt::obs::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

Definition at line 125 of file CImpinjRFID.cpp.

References mrpt::obs::CObservationRFID::TTagReading::antennaPort, mrpt::obs::CObservationRFID::TTagReading::epc, mrpt::mrpt::format(), mrpt::obs::CObservationRFID::TTagReading::power, mrpt::obs::CObservation::sensorLabel, mrpt::system::os::strcpy(), mrpt::system::strtok(), and mrpt::obs::CObservationRFID::tag_readings.

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

Definition at line 86 of file CGenericSensor.h.

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

The current state of the sensor.

Definition at line 82 of file CGenericSensor.h.

void CImpinjRFID::initialize ( void  )
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.

Definition at line 33 of file CImpinjRFID.cpp.

References mrpt::system::createThread().

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

Definition at line 93 of file CGenericSensor.h.

void CGenericSensor::loadConfig ( const mrpt::utils::CConfigFileBase configSource,
const std::string section 
)
inherited
void 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.

Definition at line 74 of file CImpinjRFID.cpp.

References MRPT_END, MRPT_START, mrpt::utils::CConfigFileBase::read_int(), and mrpt::utils::CConfigFileBase::read_string().

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 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.

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::CGenericSensor::setSensorLabel ( const std::string sensorLabel)
inlineinherited

Definition at line 87 of file CGenericSensor.h.

void CImpinjRFID::startDriver ( )
private

start the external driver

Definition at line 55 of file CImpinjRFID.cpp.

References mrpt::system::exitThread(), and mrpt::system::sleep().

Referenced by dummy_startDriver().

Member Data Documentation

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

Client socket (handles the connection to the client)

Definition at line 57 of file CImpinjRFID.h.

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

Connection status.

Definition at line 65 of file CImpinjRFID.h.

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

Driver executable path.

Definition at line 61 of file CImpinjRFID.h.

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

IP of the module (usually 127.0.0.1)

Definition at line 45 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 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().

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().

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().

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().

double mrpt::hwdrivers::CGenericSensor::m_process_rate
protectedinherited
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(), 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().

TSensorState mrpt::hwdrivers::CGenericSensor::m_state
protectedinherited
bool mrpt::hwdrivers::CGenericSensor::m_verbose
protectedinherited
int mrpt::hwdrivers::CImpinjRFID::port
private

Server port.

Definition at line 41 of file CImpinjRFID.h.

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

Definition at line 33 of file CImpinjRFID.h.

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

Definition at line 37 of file CImpinjRFID.h.

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

Definition at line 33 of file CImpinjRFID.h.

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

Definition at line 37 of file CImpinjRFID.h.

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

Poses (Antenna 1)

Definition at line 33 of file CImpinjRFID.h.

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

Poses (Antenna 2)

Definition at line 37 of file CImpinjRFID.h.

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

Definition at line 33 of file CImpinjRFID.h.

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

Definition at line 37 of file CImpinjRFID.h.

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

Definition at line 33 of file CImpinjRFID.h.

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

Definition at line 37 of file CImpinjRFID.h.

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

Definition at line 33 of file CImpinjRFID.h.

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

Definition at line 37 of file CImpinjRFID.h.

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

Reader name.

Definition at line 49 of file CImpinjRFID.h.

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

Server socket (listens for the incoming connection)

Definition at line 53 of file CImpinjRFID.h.




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