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mrpt::hwdrivers::CServoeNeck Class Referenceabstract

Detailed Description

A USB-interface for a custom "robotic neck" designed at MAPIR lab.

Definition at line 24 of file CServoeNeck.h.

#include <mrpt/hwdrivers/CServoeNeck.h>

Inheritance diagram for mrpt::hwdrivers::CServoeNeck:
Inheritance graph

Public Types

enum  TSeekOrigin { sFromBeginning = 0, sFromCurrent = 1, sFromEnd = 2 }
 Used in CStream::Seek. More...
 

Public Member Functions

 CServoeNeck ()
 
 ~CServoeNeck ()
 
bool queryFirmwareVersion (std::string &out_firmwareVersion)
 Gets the firmware version of the eNeck board. More...
 
bool getCurrentAngle (double &angle, const uint8_t servo=0)
 Gets the current angle of the servo (in radians within (-pi,pi)) More...
 
bool setAngle (double angle, const uint8_t servo=0, bool fast=false)
 Turns the servo up to the specified angle (in radians in the range -pi,pi, other values will be saturated to the maximum or the mininum) More...
 
bool setAngleAndSpeed (double angle, const uint8_t servo, const uint8_t speed)
 Turns the servo up to the specified angle (in radians in the range -pi,pi, other values will be saturated to the maximum or the mininum) More...
 
bool setAngleWithFilter (double angle, const uint8_t servo=0, bool fast=false)
 Turns the servo up to the specified angle (in radians in the range -pi,pi) filtered by average with the last N specified angles. More...
 
bool disableServo (const uint8_t servo=0)
 Disables the servo so the neck will be loose. More...
 
bool enableServo (const uint8_t servo=0)
 Enables the servo so the neck will be tight. More...
 
bool center (const uint8_t servo=0)
 Centers the servo at zero position. More...
 
double getTruncateFactor ()
 Gets the truncate factor of the turn. More...
 
void setTruncateFactor (const double factor)
 Gets the truncate factor of the turn. More...
 
void setNumberOfPreviousAngles (const unsigned int number)
 Gets the truncate factor of the turn. More...
 
unsigned int getNumberOfPreviousAngles ()
 Gets the truncate factor of the turn. More...
 
void setOffsets (float offset0, float offset1, float offset2)
 Load the Offset values for each servo. More...
 
bool isOpen ()
 Checks whether the chip has been successfully open. More...
 
void OpenBySerialNumber (const std::string &serialNumber)
 Open by device serial number. More...
 
void OpenByDescription (const std::string &description)
 Open by device description. More...
 
void Close ()
 Close the USB device. More...
 
void ResetDevice ()
 Reset the USB device. More...
 
void Purge ()
 Purge the I/O buffers. More...
 
void SetLatencyTimer (unsigned char latency_ms)
 Change the latency timer (in milliseconds) implemented on the FTDI chip: for a few ms, data is not sent to the PC waiting for possible more data, to save USB trafic. More...
 
void SetTimeouts (unsigned long dwReadTimeout_ms, unsigned long dwWriteTimeout_ms)
 Change read & write timeouts, in milliseconds. More...
 
void ListAllDevices (TFTDIDeviceList &outList)
 Generates a list with all FTDI devices connected right now. More...
 
size_t ReadSync (void *Buffer, size_t Count)
 Tries to read, raising no exception if not all the bytes are available, but raising one if there is some communication error. More...
 
size_t WriteSync (const void *Buffer, size_t Count)
 Tries to write, raising no exception if not all the bytes are available, but raising one if there is some communication error. More...
 
virtual size_t ReadBufferImmediate (void *Buffer, size_t Count)
 Reads a block of bytes from the stream into Buffer, and returns the amound of bytes actually read, without waiting for more extra bytes to arrive (just those already enqued in the stream). More...
 
virtual uint64_t Seek (int64_t Offset, CStream::TSeekOrigin Origin=sFromBeginning)=0
 Introduces a pure virtual method for moving to a specified position in the streamed resource. More...
 
size_t ReadBuffer (void *Buffer, size_t Count)
 Reads a block of bytes from the stream into Buffer

Exceptions
std::exceptionOn any error, or if ZERO bytes are read.
More...
 
template<typename T >
size_t ReadBufferFixEndianness (T *ptr, size_t ElementCount)
 Reads a sequence of elemental datatypes, taking care of reordering their bytes from the MRPT stream standard (little endianness) to the format of the running architecture. More...
 
void WriteBuffer (const void *Buffer, size_t Count)
 Writes a block of bytes to the stream from Buffer. More...
 
template<typename T >
void WriteBufferFixEndianness (const T *ptr, size_t ElementCount)
 Writes a sequence of elemental datatypes, taking care of reordering their bytes from the running architecture to MRPT stream standard (little endianness). More...
 
void WriteObject (const CSerializable *o)
 Writes an object to the stream. More...
 
CSerializablePtr ReadObject ()
 Reads an object from stream, its class determined at runtime, and returns a smart pointer to the object. More...
 
void ReadObject (CSerializable *existingObj)
 Reads an object from stream, where its class must be the same as the supplied object, where the loaded object will be stored in. More...
 
CStreamoperator<< (const CSerializablePtr &pObj)
 Write an object to a stream in the binary MRPT format. More...
 
CStreamoperator<< (const CSerializable &obj)
 Write an object to a stream in the binary MRPT format. More...
 
CStreamoperator>> (CSerializablePtr &pObj)
 
CStreamoperator>> (CSerializable &obj)
 
template<typename STORED_TYPE , typename CAST_TO_TYPE >
void ReadAsAndCastTo (CAST_TO_TYPE &read_here)
 Read a value from a stream stored in a type different of the target variable, making the conversion via static_cast. More...
 
virtual int printf (const char *fmt,...) MRPT_printf_format_check(2
 Writes a string to the stream in a textual form. More...
 
template<typename CONTAINER_TYPE >
virtual int void printf_vector (const char *fmt, const CONTAINER_TYPE &V, char separator= ',')
 Prints a vector in the format [A,B,C,...] using CStream::printf, and the fmt string for each vector element T. More...
 
void sendMessage (const utils::CMessage &msg)
 Send a message to the device. More...
 
bool receiveMessage (utils::CMessage &msg)
 Tries to receive a message from the device. More...
 
bool getline (std::string &out_str)
 Reads from the stream until a '
' character is found ('' characters are ignored). More...
 

Protected Member Functions

bool setRegisterValue (const uint16_t value, const uint8_t servo=0, bool fast=false)
 
bool setRegisterValueAndSpeed (const uint16_t value, const uint8_t servo, const uint16_t speed)
 
bool getRegisterValue (uint16_t &value, const uint8_t servo=0)
 
size_t Read (void *Buffer, size_t Count)
 Introduces a pure virtual method responsible for reading from the stream. More...
 
size_t Write (const void *Buffer, size_t Count)
 Introduces a pure virtual method responsible for writing to the stream. More...
 
uint64_t Seek (int64_t Offset, CStream::TSeekOrigin Origin=sFromBeginning)
 This virtual method does nothing in this class. More...
 
uint64_t getTotalBytesCount ()
 This virtual method does nothing in this class. More...
 
uint64_t getPosition ()
 This virtual method does nothing in this class. More...
 
void ftdi_read (void *lpvBuffer, unsigned long dwBuffSize, unsigned long *lpdwBytesRead)
 
void ftdi_write (const void *lpvBuffer, unsigned long dwBuffSize, unsigned long *lpdwBytes)
 
void recursive_fill_list_devices (void *usb_device_structure, TFTDIDeviceList &outList)
 Process recursively a USB device and its children: More...
 
template<bool EXISTING_OBJ>
void internal_ReadObject (CSerializablePtr &newObj, CSerializable *existingObj=NULL)
 A common template code for both versions of CStream::ReadObject() More...
 

Protected Attributes

std::string m_usbSerialNumber
 A copy of the device serial number (to open the USB FTDI chip). More...
 
double m_MaxValue
 The value set in the ICR register within the ATMEGA16 controller. More...
 
double m_TruncateFactor
 The range of turn of the servo will be truncated to "+-m_truncate_factor*(pi/2)". More...
 
std::deque< double > m_PrevAngles
 A vector containing the last N angles which where passed to the servo (for averaging) More...
 
unsigned int m_NumPrevAngles
 Number of previous angles to store for averaging. More...
 
std::vector< float > m_offsets
 The offset used for each servo. More...
 
mrpt::utils::circular_buffer
< uint8_t
m_readBuffer
 Used in Read. More...
 
voidm_ftdi_context
 

Private Member Functions

unsigned int angle2RegValue (const double angle)
 Converts from a decimal angle (in radians) to the corresponding register value for the ATMEGA16 controller (for inner use only). More...
 
double regValue2angle (const uint16_t value)
 Converts from a certain value of the ATMEGA16 PWM register to the corresponding decimal angle (for inner use only). More...
 
bool checkConnectionAndConnect ()
 Tries to connect to the USB device (if disconnected). More...
 

Member Enumeration Documentation

Used in CStream::Seek.

Enumerator
sFromBeginning 
sFromCurrent 
sFromEnd 

Definition at line 42 of file CStream.h.

Constructor & Destructor Documentation

CServoeNeck::CServoeNeck ( )

Definition at line 25 of file CServoeNeck.cpp.

References m_offsets.

CServoeNeck::~CServoeNeck ( )

Definition at line 37 of file CServoeNeck.cpp.

Member Function Documentation

unsigned int CServoeNeck::angle2RegValue ( const double  angle)
private

Converts from a decimal angle (in radians) to the corresponding register value for the ATMEGA16 controller (for inner use only).

Parameters
Theangle to convert.
Returns
The value of the register to send.

Definition at line 77 of file CServoeNeck.cpp.

References M_PI.

Referenced by center(), setAngle(), and setAngleAndSpeed().

bool CServoeNeck::center ( const uint8_t  servo = 0)

Centers the servo at zero position.

Definition at line 366 of file CServoeNeck.cpp.

References angle2RegValue(), m_offsets, and setRegisterValue().

bool CServoeNeck::checkConnectionAndConnect ( )
private
void mrpt::hwdrivers::CInterfaceFTDI::Close ( )
inherited
bool CServoeNeck::disableServo ( const uint8_t  servo = 0)

Disables the servo so the neck will be loose.

Parameters
Servothe id of the servo to move (in our ATMEGA16, from 0 to 2).
Returns
Whether or not the procedure succeded.

Definition at line 300 of file CServoeNeck.cpp.

References mrpt::hwdrivers::CInterfaceFTDI::Close(), mrpt::utils::CMessage::content, mrpt::hwdrivers::CInterfaceFTDI::isOpen(), mrpt::utils::CStream::receiveMessage(), mrpt::utils::CStream::sendMessage(), and mrpt::utils::CMessage::type.

bool CServoeNeck::enableServo ( const uint8_t  servo = 0)

Enables the servo so the neck will be tight.

Parameters
Servothe id of the servo to move (in our ATMEGA16, from 0 to 2).
Returns
Whether or not the procedure succeded.

Definition at line 333 of file CServoeNeck.cpp.

References mrpt::hwdrivers::CInterfaceFTDI::Close(), mrpt::utils::CMessage::content, mrpt::hwdrivers::CInterfaceFTDI::isOpen(), mrpt::utils::CStream::receiveMessage(), mrpt::utils::CStream::sendMessage(), and mrpt::utils::CMessage::type.

void mrpt::hwdrivers::CInterfaceFTDI::ftdi_read ( void lpvBuffer,
unsigned long  dwBuffSize,
unsigned long *  lpdwBytesRead 
)
protectedinherited
void mrpt::hwdrivers::CInterfaceFTDI::ftdi_write ( const void lpvBuffer,
unsigned long  dwBuffSize,
unsigned long *  lpdwBytes 
)
protectedinherited
bool CServoeNeck::getCurrentAngle ( double &  angle,
const uint8_t  servo = 0 
)

Gets the current angle of the servo (in radians within (-pi,pi))

Parameters
Angle[OUT] The current angle.
Servo[IN] The id of the servo (in our ATMEGA16, from 0 to 2).
Returns
Whether or not the procedure succeded.

Definition at line 223 of file CServoeNeck.cpp.

References getRegisterValue(), and regValue2angle().

bool CStream::getline ( std::string out_str)
inherited

Reads from the stream until a '
' character is found ('' characters are ignored).

Returns
false on EOF or any other read error.

Definition at line 680 of file CStream.cpp.

unsigned int mrpt::hwdrivers::CServoeNeck::getNumberOfPreviousAngles ( )
inline

Gets the truncate factor of the turn.

Definition at line 97 of file CServoeNeck.h.

uint64_t CInterfaceFTDI::getPosition ( )
protectedvirtualinherited

This virtual method does nothing in this class.

Implements mrpt::utils::CStream.

Definition at line 84 of file CInterfaceFTDI_common.cpp.

bool CServoeNeck::getRegisterValue ( uint16_t value,
const uint8_t  servo = 0 
)
protected
uint64_t CInterfaceFTDI::getTotalBytesCount ( )
protectedvirtualinherited

This virtual method does nothing in this class.

Implements mrpt::utils::CStream.

Definition at line 76 of file CInterfaceFTDI_common.cpp.

double mrpt::hwdrivers::CServoeNeck::getTruncateFactor ( )
inline

Gets the truncate factor of the turn.

Definition at line 85 of file CServoeNeck.h.

template<bool EXISTING_OBJ>
void CStream::internal_ReadObject ( CSerializablePtr &  newObj,
CSerializable existingObj = NULL 
)
protectedinherited
bool mrpt::hwdrivers::CInterfaceFTDI::isOpen ( )
inherited
void mrpt::hwdrivers::CInterfaceFTDI::ListAllDevices ( TFTDIDeviceList outList)
inherited

Generates a list with all FTDI devices connected right now.

void mrpt::hwdrivers::CInterfaceFTDI::OpenByDescription ( const std::string description)
inherited

Open by device description.

void mrpt::hwdrivers::CInterfaceFTDI::OpenBySerialNumber ( const std::string serialNumber)
inherited
CStream & CStream::operator<< ( const CSerializablePtr &  pObj)
inherited

Write an object to a stream in the binary MRPT format.

Definition at line 211 of file CStream.cpp.

CStream & CStream::operator<< ( const CSerializable obj)
inherited

Write an object to a stream in the binary MRPT format.

Definition at line 218 of file CStream.cpp.

CStream & CStream::operator>> ( CSerializablePtr &  pObj)
inherited

Definition at line 224 of file CStream.cpp.

CStream & CStream::operator>> ( CSerializable obj)
inherited

Definition at line 230 of file CStream.cpp.

int CStream::printf ( const char *  fmt,
  ... 
)
virtualinherited

Writes a string to the stream in a textual form.

See Also
CStdOutStream

Definition at line 507 of file CStream.cpp.

References MRPT_END, MRPT_START, and vsnprintf.

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), mrpt::utils::TMatchingPairList::dumpToFile(), mrpt::obs::gnss::Message_NMEA_GGA::dumpToStream(), mrpt::obs::gnss::Message_TOPCON_PZS::dumpToStream(), mrpt::obs::gnss::Message_TOPCON_SATS::dumpToStream(), mrpt::obs::gnss::Message_NMEA_GLL::dumpToStream(), mrpt::obs::gnss::Message_NMEA_RMC::dumpToStream(), mrpt::obs::CObservationGPS::dumpToStream(), mrpt::obs::gnss::Message_NMEA_VTG::dumpToStream(), mrpt::obs::gnss::Message_NV_OEM6_GENERIC_FRAME::dumpToStream(), mrpt::obs::gnss::Message_NMEA_ZDA::dumpToStream(), mrpt::obs::gnss::Message_NV_OEM6_GENERIC_SHORT_FRAME::dumpToStream(), mrpt::obs::gnss::Message_NV_OEM6_RANGECMP::dumpToStream(), mrpt::obs::gnss::Message_NV_OEM6_VERSION::dumpToStream(), mrpt::slam::TKLDParams::dumpToTextStream(), mrpt::maps::TMetricMapInitializer::dumpToTextStream(), mrpt::slam::CMetricMapBuilderICP::TConfigParams::dumpToTextStream(), mrpt::maps::CWirelessPowerGridMap2D::TInsertionOptions::dumpToTextStream(), mrpt::maps::CHeightGridMap2D_MRF::TInsertionOptions::dumpToTextStream(), mrpt::slam::CIncrementalMapPartitioner::TOptions::dumpToTextStream(), mrpt::slam::CICP::TConfigParams::dumpToTextStream(), mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::dumpToTextStream(), mrpt::hmtslam::CTopLCDetector_FabMap::TOptions::dumpToTextStream(), mrpt::hmtslam::CTopLCDetector_GridMatching::TOptions::dumpToTextStream(), mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::dumpToTextStream(), mrpt::graphslam::TUncertaintyPath< GRAPH_T >::dumpToTextStream(), mrpt::vision::CFeatureExtraction::TOptions::dumpToTextStream(), mrpt::maps::CReflectivityGridMap2D::TInsertionOptions::dumpToTextStream(), mrpt::utils::CLoadableOptions::dumpToTextStream(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::dumpToTextStream(), mrpt::bayes::CParticleFilter::TParticleFilterOptions::dumpToTextStream(), mrpt::slam::CGridMapAligner::TConfigParams::dumpToTextStream(), mrpt::graphslam::TSlidingWindow::dumpToTextStream(), mrpt::maps::CHeightGridMap2D::TInsertionOptions::dumpToTextStream(), mrpt::slam::CRangeBearingKFSLAM2D::TOptions::dumpToTextStream(), mrpt::maps::CBeaconMap::TLikelihoodOptions::dumpToTextStream(), mrpt::maps::CMultiMetricMapPDF::TPredictionParams::dumpToTextStream(), mrpt::maps::CRandomFieldGridMap3D::TInsertionOptions::dumpToTextStream(), mrpt::maps::CBeaconMap::TInsertionOptions::dumpToTextStream(), mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::TParams::dumpToTextStream(), mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams::dumpToTextStream(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TLikelihoodOptions::dumpToTextStream(), mrpt::slam::CRangeBearingKFSLAM::TOptions::dumpToTextStream(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::TParams::dumpToTextStream(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::dumpToTextStream(), mrpt::maps::CPointsMap::TInsertionOptions::dumpToTextStream(), mrpt::vision::TStereoSystemParams::dumpToTextStream(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::TParams::dumpToTextStream(), mrpt::vision::CFeature::dumpToTextStream(), mrpt::maps::CLandmarksMap::TInsertionOptions::dumpToTextStream(), mrpt::maps::CPointsMap::TLikelihoodOptions::dumpToTextStream(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::GraphVisualizationParams::dumpToTextStream(), mrpt::maps::CColouredPointsMap::TColourOptions::dumpToTextStream(), mrpt::maps::CLandmarksMap::TLikelihoodOptions::dumpToTextStream(), mrpt::maps::TSetOfMetricMapInitializers::dumpToTextStream(), mrpt::vision::TMatchingOptions::dumpToTextStream(), mrpt::maps::COccupancyGridMap2D::TInsertionOptions::dumpToTextStream(), mrpt::hmtslam::CHMTSLAM::TOptions::dumpToTextStream(), mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::dumpToTextStream(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::dumpToTextStream(), mrpt::vision::TMultiResDescMatchOptions::dumpToTextStream(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::dumpToTextStream(), mrpt::vision::TMultiResDescOptions::dumpToTextStream(), mrpt::maps::CWirelessPowerGridMap2D::TMapDefinition::dumpToTextStream_map_specific(), mrpt::maps::CHeightGridMap2D_MRF::TMapDefinition::dumpToTextStream_map_specific(), mrpt::maps::CHeightGridMap2D::TMapDefinition::dumpToTextStream_map_specific(), mrpt::maps::CGasConcentrationGridMap2D::TMapDefinition::dumpToTextStream_map_specific(), mrpt::maps::CLandmarksMap::TMapDefinition::dumpToTextStream_map_specific(), mrpt::utils::CLoadableOptions::dumpVar_bool(), mrpt::utils::CLoadableOptions::dumpVar_double(), mrpt::utils::CLoadableOptions::dumpVar_float(), mrpt::utils::CLoadableOptions::dumpVar_int(), mrpt::utils::CLoadableOptions::dumpVar_string(), mrpt::synch::CCriticalSection::enter(), generic_dump_BESTPOS(), generic_dump_MARKTIME(), mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::internal_dumpToTextStream_common(), mrpt::synch::CCriticalSection::leave(), mrpt::slam::CRangeBearingKFSLAM2D::OnGetObservationsAndDataAssociation(), mrpt::maps::CRandomFieldGridMap3D::saveAsCSV(), mrpt::poses::CPoseInterpolatorBase< DIM >::saveInterpolatedToTextFile(), mrpt::utils::CTimeLogger::saveToCSVFile(), and mrpt::poses::CPoseInterpolatorBase< DIM >::saveToTextFile().

template<typename CONTAINER_TYPE >
virtual int void mrpt::utils::CStream::printf_vector ( const char *  fmt,
const CONTAINER_TYPE &  V,
char  separator = ',' 
)
inlineinherited

Prints a vector in the format [A,B,C,...] using CStream::printf, and the fmt string for each vector element T.

Template Parameters
CONTAINER_TYPEcan be any vector<T>, deque<T> or alike.

Definition at line 208 of file CStream.h.

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel().

void mrpt::hwdrivers::CInterfaceFTDI::Purge ( )
inherited

Purge the I/O buffers.

Referenced by checkConnectionAndConnect().

bool CServoeNeck::queryFirmwareVersion ( std::string out_firmwareVersion)

Gets the firmware version of the eNeck board.

Parameters
out_firmwareVersion[OUTPUT] A string containing the firmware version.
Returns
Whether or not the procedure succeded.

Definition at line 43 of file CServoeNeck.cpp.

References checkConnectionAndConnect(), mrpt::hwdrivers::CInterfaceFTDI::Close(), mrpt::utils::CMessage::getContentAsString(), mrpt::utils::CStream::receiveMessage(), mrpt::utils::CStream::sendMessage(), mrpt::system::sleep(), and mrpt::utils::CMessage::type.

size_t CInterfaceFTDI::Read ( void Buffer,
size_t  Count 
)
protectedvirtualinherited

Introduces a pure virtual method responsible for reading from the stream.

It integrates a cache buffer to speed-up sequences of many, small readings.

Implements mrpt::utils::CStream.

Definition at line 20 of file CInterfaceFTDI_common.cpp.

References mrpt::utils::circular_buffer< T >::available(), mrpt::hwdrivers::CInterfaceFTDI::ftdi_read(), mrpt::hwdrivers::CInterfaceFTDI::m_readBuffer, min, mrpt::utils::circular_buffer< T >::pop_many(), mrpt::utils::circular_buffer< T >::push_many(), and mrpt::utils::circular_buffer< T >::size().

template<typename STORED_TYPE , typename CAST_TO_TYPE >
void mrpt::utils::CStream::ReadAsAndCastTo ( CAST_TO_TYPE &  read_here)
inlineinherited

Read a value from a stream stored in a type different of the target variable, making the conversion via static_cast.

Useful for coding backwards compatible de-serialization blocks

Definition at line 194 of file CStream.h.

Referenced by mrpt::opengl::CColorBar::readFromStream(), mrpt::nav::CLogFileRecord::readFromStream(), and mrpt::nav::ClearanceDiagram::readFromStream().

size_t CStream::ReadBuffer ( void Buffer,
size_t  Count 
)
inherited

Reads a block of bytes from the stream into Buffer

Exceptions
std::exceptionOn any error, or if ZERO bytes are read.

Returns
The amound of bytes actually read.
Note
This method is endianness-dependent.
See Also
ReadBufferImmediate ; Important, see: ReadBufferFixEndianness,

Definition at line 45 of file CStream.cpp.

References ASSERT_, and THROW_EXCEPTION.

Referenced by mrpt::hwdrivers::CHokuyoURG::assureBufferHasBytes(), mrpt::compress::zip::compress_gz_data_block(), mrpt::compress::zip::decompress(), mrpt::compress::zip::decompress_gz_file(), mrpt::hwdrivers::CGPSInterface::doProcess(), fill_input_buffer(), mrpt::obs::gnss::Message_NV_OEM6_GENERIC_FRAME::internal_readFromStream(), mrpt::obs::gnss::Message_NV_OEM6_GENERIC_SHORT_FRAME::internal_readFromStream(), mrpt::obs::gnss::Message_NV_OEM6_RANGECMP::internal_readFromStream(), mrpt::obs::gnss::Message_NV_OEM6_VERSION::internal_readFromStream(), mrpt::system::loadBinaryFile(), mrpt::utils::CMemoryStream::loadBufferFromFile(), mrpt::utils::operator>>(), mrpt::hwdrivers::CHokuyoURG::purgeBuffers(), mrpt::math::CMatrixB::readFromStream(), mrpt::utils::CMemoryChunk::readFromStream(), mrpt::obs::CActionRobotMovement2D::readFromStream(), mrpt::maps::CHeightGridMap2D_MRF::readFromStream(), mrpt::maps::CWirelessPowerGridMap2D::readFromStream(), mrpt::maps::CGasConcentrationGridMap2D::readFromStream(), mrpt::obs::CObservation2DRangeScan::readFromStream(), mrpt::maps::CReflectivityGridMap2D::readFromStream(), mrpt::obs::CObservationVelodyneScan::readFromStream(), mrpt::obs::CObservationGPS::readFromStream(), mrpt::maps::COccupancyGridMap2D::readFromStream(), mrpt::maps::CRandomFieldGridMap3D::readFromStream(), mrpt::utils::CImage::readFromStream(), mrpt::obs::CObservation3DRangeScan::readFromStream(), mrpt::nav::CLogFileRecord_ND::readFromStream(), and mrpt::opengl::CRenderizable::readFromStreamRender().

template<typename T >
size_t mrpt::utils::CStream::ReadBufferFixEndianness ( T *  ptr,
size_t  ElementCount 
)
inlineinherited

Reads a sequence of elemental datatypes, taking care of reordering their bytes from the MRPT stream standard (little endianness) to the format of the running architecture.

Parameters
ElementCountThe number of elements (not bytes) to read.
ptrA pointer to the first output element in an array (or std::vector<>, etc...).
Returns
The amound of bytes (not elements) actually read (under error situations, the last element may be invalid if the data stream abruptly ends). Example of usage:
s >> N;
vector<float> vec(N);
if (N)
s.ReadBufferFixEndianness<float>(&vec[0],N);
Exceptions
std::exceptionOn any error, or if ZERO bytes are read.
See Also
ReadBufferFixEndianness, ReadBuffer

Definition at line 95 of file CStream.h.

References mrpt::mrpt::utils::reverseBytesInPlace().

Referenced by mrpt::utils::operator>>(), mrpt::math::operator>>(), mrpt::math::CPolygon::readFromStream(), mrpt::math::CMatrix::readFromStream(), mrpt::math::CMatrixD::readFromStream(), mrpt::nav::CLogFileRecord::readFromStream(), mrpt::maps::CColouredPointsMap::readFromStream(), mrpt::maps::CWeightedPointsMap::readFromStream(), mrpt::maps::CSimplePointsMap::readFromStream(), mrpt::obs::CObservation2DRangeScan::readFromStream(), mrpt::obs::CSensoryFrame::readFromStream(), mrpt::maps::COccupancyGridMap2D::readFromStream(), mrpt::obs::CObservation3DRangeScan::readFromStream(), mrpt::utils::detail::readStdVectorToStream(), and triangle_readFromStream().

size_t CInterfaceFTDI::ReadBufferImmediate ( void Buffer,
size_t  Count 
)
virtualinherited

Reads a block of bytes from the stream into Buffer, and returns the amound of bytes actually read, without waiting for more extra bytes to arrive (just those already enqued in the stream).

In this class this method actually behaves as expected and does not fallback to ReadBuffer().

Exceptions
std::exceptionOn any error, or if ZERO bytes are read.

Reimplemented from mrpt::utils::CStream.

Definition at line 92 of file CInterfaceFTDI_common.cpp.

References mrpt::hwdrivers::CInterfaceFTDI::ftdi_read().

CSerializablePtr CStream::ReadObject ( )
inherited

Reads an object from stream, its class determined at runtime, and returns a smart pointer to the object.

Exceptions
std::exceptionOn I/O error or undefined class.
mrpt::utils::CExceptionEOFOn an End-Of-File condition found at a correct place: an EOF that abruptly finishes in the middle of one object raises a plain std::exception instead.

Definition at line 486 of file CStream.cpp.

Referenced by mrpt::utils::mrpt_recv_from_zmq(), mrpt::utils::mrpt_recv_from_zmq_into(), mrpt::utils::OctetVectorToObject(), mrpt::math::operator>>(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), mrpt::utils::RawStringToObject(), mrpt::nav::CLogFileRecord::readFromStream(), mrpt::obs::CRawlog::readFromStream(), mrpt::utils::StringToObject(), and TEST().

void CStream::ReadObject ( CSerializable existingObj)
inherited

Reads an object from stream, where its class must be the same as the supplied object, where the loaded object will be stored in.

Exceptions
std::exceptionOn I/O error or different class found.
mrpt::utils::CExceptionEOFOn an End-Of-File condition found at a correct place: an EOF that abruptly finishes in the middle of one object raises a plain std::exception instead.

Definition at line 498 of file CStream.cpp.

size_t mrpt::hwdrivers::CInterfaceFTDI::ReadSync ( void Buffer,
size_t  Count 
)
inlineinherited

Tries to read, raising no exception if not all the bytes are available, but raising one if there is some communication error.

Definition at line 126 of file CInterfaceFTDI.h.

Referenced by mrpt::hwdrivers::CSickLaserUSB::waitContinuousSampleFrame().

bool CStream::receiveMessage ( utils::CMessage msg)
inherited
void mrpt::hwdrivers::CInterfaceFTDI::recursive_fill_list_devices ( void usb_device_structure,
TFTDIDeviceList outList 
)
protectedinherited

Process recursively a USB device and its children:

double CServoeNeck::regValue2angle ( const uint16_t  value)
private

Converts from a certain value of the ATMEGA16 PWM register to the corresponding decimal angle (for inner use only).

Parameters
Thevalue to convert.
Returns
The corresponding angle.

Definition at line 91 of file CServoeNeck.cpp.

References M_PI.

Referenced by getCurrentAngle().

void mrpt::hwdrivers::CInterfaceFTDI::ResetDevice ( )
inherited
virtual uint64_t mrpt::utils::CStream::Seek ( int64_t  Offset,
CStream::TSeekOrigin  Origin = sFromBeginning 
)
pure virtualinherited

Introduces a pure virtual method for moving to a specified position in the streamed resource.

he Origin parameter indicates how to interpret the Offset parameter. Origin should be one of the following values:

  • sFromBeginning (Default) Offset is from the beginning of the resource. Seek moves to the position Offset. Offset must be >= 0.
  • sFromCurrent Offset is from the current position in the resource. Seek moves to Position + Offset.
  • sFromEnd Offset is from the end of the resource. Offset must be <= 0 to indicate a number of bytes before the end of the file.
    Returns
    Seek returns the new value of the Position property.

Implemented in mrpt::utils::CClientTCPSocket, mrpt::utils::CFileStream, mrpt::utils::CFileOutputStream, mrpt::utils::CFileGZInputStream, mrpt::utils::CMemoryStream, mrpt::utils::CFileInputStream, and mrpt::utils::CStdOutStream.

uint64_t CInterfaceFTDI::Seek ( int64_t  Offset,
CStream::TSeekOrigin  Origin = sFromBeginning 
)
protectedinherited

This virtual method does nothing in this class.

Definition at line 66 of file CInterfaceFTDI_common.cpp.

References MRPT_UNUSED_PARAM.

void CStream::sendMessage ( const utils::CMessage msg)
inherited

Send a message to the device.

Note that only the low byte from the "type" field will be used.

For frames of size < 255 the frame format is an array of bytes in this order:

<START_FLAG> <HEADER> <LENGTH> <BODY> <END_FLAG>
<START_FLAG> = 0x69
<HEADER> = A header byte
<LENGHT> = Number of bytes of BODY
<BODY> = N x bytes
<END_FLAG> = 0X96
Total length = <LENGTH> + 4

For frames of size > 255 the frame format is an array of bytes in this order:

<START_FLAG> <HEADER> <HIBYTE(LENGTH)> <LOBYTE(LENGTH)> <BODY> <END_FLAG>
<START_FLAG> = 0x79
<HEADER> = A header byte
<LENGHT> = Number of bytes of BODY
<BODY> = N x bytes
<END_FLAG> = 0X96
Total length = <LENGTH> + 5
Exceptions
std::exceptionOn communication errors

Definition at line 556 of file CStream.cpp.

References mrpt::utils::CMessage::content, mrpt::system::os::memcpy(), MRPT_END, MRPT_START, and mrpt::utils::CMessage::type.

Referenced by disableServo(), enableServo(), mrpt::hwdrivers::CRoboticHeadInterface::Get3SoundBuffer(), mrpt::hwdrivers::CRoboticHeadInterface::GetGain(), getRegisterValue(), mrpt::hwdrivers::CRoboticHeadInterface::GetSoundLocation(), queryFirmwareVersion(), mrpt::hwdrivers::CBoardENoses::queryFirmwareVersion(), mrpt::hwdrivers::CRoboticHeadInterface::SetGain(), setRegisterValue(), and setRegisterValueAndSpeed().

bool CServoeNeck::setAngle ( double  angle,
const uint8_t  servo = 0,
bool  fast = false 
)

Turns the servo up to the specified angle (in radians in the range -pi,pi, other values will be saturated to the maximum or the mininum)

Parameters
Anglethe desired angle to turn.
Servothe id of the servo to move (in our ATMEGA16, from 0 to 2).
Fastindicates if the servo must reach the angle at maximum speed
Returns
Whether or not the procedure succeded.

Definition at line 238 of file CServoeNeck.cpp.

References angle2RegValue(), m_offsets, M_PI, m_TruncateFactor, RAD2DEG, and setRegisterValue().

Referenced by setAngleWithFilter().

bool CServoeNeck::setAngleAndSpeed ( double  angle,
const uint8_t  servo,
const uint8_t  speed 
)

Turns the servo up to the specified angle (in radians in the range -pi,pi, other values will be saturated to the maximum or the mininum)

Parameters
Anglethe desired angle to turn.
Servothe id of the servo to move (in our ATMEGA16, from 0 to 2).
Speedindicates the speed of the servo
Returns
Whether or not the procedure succeded.

Definition at line 263 of file CServoeNeck.cpp.

References angle2RegValue(), m_offsets, M_PI, m_TruncateFactor, and setRegisterValueAndSpeed().

bool CServoeNeck::setAngleWithFilter ( double  angle,
const uint8_t  servo = 0,
bool  fast = false 
)

Turns the servo up to the specified angle (in radians in the range -pi,pi) filtered by average with the last N specified angles.

Parameters
Anglethe new desired angle to turn.
Servothe id of the servo to move (in our ATMEGA16, from 0 to 2).
Fastindicates if the servo must reach the angle at maximum speed
Returns
Whether or not the procedure succeded.

Definition at line 281 of file CServoeNeck.cpp.

References m_NumPrevAngles, m_PrevAngles, and setAngle().

void mrpt::hwdrivers::CInterfaceFTDI::SetLatencyTimer ( unsigned char  latency_ms)
inherited

Change the latency timer (in milliseconds) implemented on the FTDI chip: for a few ms, data is not sent to the PC waiting for possible more data, to save USB trafic.

Referenced by checkConnectionAndConnect(), and mrpt::hwdrivers::CSickLaserUSB::checkControllerIsConnected().

void mrpt::hwdrivers::CServoeNeck::setNumberOfPreviousAngles ( const unsigned int  number)
inline

Gets the truncate factor of the turn.

Definition at line 93 of file CServoeNeck.h.

void CServoeNeck::setOffsets ( float  offset0,
float  offset1,
float  offset2 
)

Load the Offset values for each servo.

Definition at line 401 of file CServoeNeck.cpp.

References m_offsets.

bool CServoeNeck::setRegisterValue ( const uint16_t  value,
const uint8_t  servo = 0,
bool  fast = false 
)
protected
bool CServoeNeck::setRegisterValueAndSpeed ( const uint16_t  value,
const uint8_t  servo,
const uint16_t  speed 
)
protected
void mrpt::hwdrivers::CInterfaceFTDI::SetTimeouts ( unsigned long  dwReadTimeout_ms,
unsigned long  dwWriteTimeout_ms 
)
inherited

Change read & write timeouts, in milliseconds.

Referenced by checkConnectionAndConnect(), and mrpt::hwdrivers::CSickLaserUSB::checkControllerIsConnected().

void mrpt::hwdrivers::CServoeNeck::setTruncateFactor ( const double  factor)
inline

Gets the truncate factor of the turn.

Definition at line 89 of file CServoeNeck.h.

References ASSERT_.

size_t CInterfaceFTDI::Write ( const void Buffer,
size_t  Count 
)
protectedvirtualinherited

Introduces a pure virtual method responsible for writing to the stream.

Write attempts to write up to Count bytes to Buffer, and returns the number of bytes actually written.

Implements mrpt::utils::CStream.

Definition at line 56 of file CInterfaceFTDI_common.cpp.

References mrpt::hwdrivers::CInterfaceFTDI::ftdi_write().

void CStream::WriteBuffer ( const void Buffer,
size_t  Count 
)
inherited

Writes a block of bytes to the stream from Buffer.

Exceptions
std::exceptionOn any error
See Also
Important, see: WriteBufferFixEndianness
Note
This method is endianness-dependent.

Definition at line 67 of file CStream.cpp.

References ASSERT_, and THROW_EXCEPTION.

Referenced by mrpt::compress::zip::compress(), mrpt::utils::CMessage::deserializeIntoExistingObject(), mrpt::utils::CMessage::deserializeIntoNewObject(), mrpt::hwdrivers::CNTRIPEmitter::doProcess(), mrpt::hwdrivers::CGPSInterface::doProcess(), empty_output_buffer(), mrpt::hwdrivers::CGPSInterface::implement_parser_NOVATEL_OEM6(), mrpt::obs::gnss::Message_NV_OEM6_GENERIC_FRAME::internal_writeToStream(), mrpt::obs::gnss::Message_NV_OEM6_GENERIC_SHORT_FRAME::internal_writeToStream(), mrpt::obs::gnss::Message_NV_OEM6_RANGECMP::internal_writeToStream(), mrpt::obs::gnss::Message_NV_OEM6_VERSION::internal_writeToStream(), mrpt::utils::mrpt_recv_from_zmq_buf(), mrpt::utils::ObjectToString(), mrpt::hwdrivers::CGPSInterface::OnConnectionEstablished(), mrpt::hwdrivers::CGPSInterface::OnConnectionShutdown(), mrpt::utils::operator<<(), mrpt::utils::CMemoryStream::saveBufferToFile(), mrpt::hwdrivers::CHokuyoURG::sendCmd(), mrpt::hwdrivers::CGPSInterface::sendCustomCommand(), mrpt::hwdrivers::CBoardENoses::setActiveChamber(), mrpt::utils::StringToObject(), term_destination(), mrpt::system::vectorToBinaryFile(), mrpt::nav::CLogFileRecord::writeToStream(), mrpt::maps::CHeightGridMap2D_MRF::writeToStream(), mrpt::maps::CGasConcentrationGridMap2D::writeToStream(), mrpt::maps::CWirelessPowerGridMap2D::writeToStream(), mrpt::obs::CObservation2DRangeScan::writeToStream(), mrpt::maps::CReflectivityGridMap2D::writeToStream(), mrpt::obs::CObservationVelodyneScan::writeToStream(), mrpt::maps::COccupancyGridMap2D::writeToStream(), mrpt::maps::CRandomFieldGridMap3D::writeToStream(), mrpt::utils::CImage::writeToStream(), and mrpt::opengl::CRenderizable::writeToStreamRender().

template<typename T >
void mrpt::utils::CStream::WriteBufferFixEndianness ( const T *  ptr,
size_t  ElementCount 
)
inlineinherited

Writes a sequence of elemental datatypes, taking care of reordering their bytes from the running architecture to MRPT stream standard (little endianness).

Parameters
ElementCountThe number of elements (not bytes) to write.
ptrA pointer to the first input element in an array (or std::vector<>, etc...). Example of usage:
vector<float> vec = ...
uint32_t N = vec.size();
s << N
if (N)
s.WriteBufferFixEndianness<float>(&vec[0],N);
Exceptions
std::exceptionOn any error
See Also
WriteBuffer

Definition at line 139 of file CStream.h.

Referenced by mrpt::utils::operator<<(), triangle_writeToStream(), mrpt::utils::detail::writeStdVectorToStream(), mrpt::math::CMatrix::writeToStream(), mrpt::math::CMatrixD::writeToStream(), mrpt::maps::CWeightedPointsMap::writeToStream(), mrpt::maps::CColouredPointsMap::writeToStream(), mrpt::maps::CSimplePointsMap::writeToStream(), mrpt::obs::CObservation2DRangeScan::writeToStream(), mrpt::maps::COccupancyGridMap2D::writeToStream(), and mrpt::obs::CObservation3DRangeScan::writeToStream().

void CStream::WriteObject ( const CSerializable o)
inherited
size_t mrpt::hwdrivers::CInterfaceFTDI::WriteSync ( const void Buffer,
size_t  Count 
)
inlineinherited

Tries to write, raising no exception if not all the bytes are available, but raising one if there is some communication error.

Definition at line 133 of file CInterfaceFTDI.h.

Member Data Documentation

void* mrpt::hwdrivers::CInterfaceFTDI::m_ftdi_context
protectedinherited

Definition at line 227 of file CInterfaceFTDI.h.

double mrpt::hwdrivers::CServoeNeck::m_MaxValue
protected

The value set in the ICR register within the ATMEGA16 controller.

Definition at line 105 of file CServoeNeck.h.

unsigned int mrpt::hwdrivers::CServoeNeck::m_NumPrevAngles
protected

Number of previous angles to store for averaging.

Definition at line 108 of file CServoeNeck.h.

Referenced by setAngleWithFilter().

std::vector<float> mrpt::hwdrivers::CServoeNeck::m_offsets
protected

The offset used for each servo.

Definition at line 109 of file CServoeNeck.h.

Referenced by center(), CServoeNeck(), setAngle(), setAngleAndSpeed(), and setOffsets().

std::deque<double> mrpt::hwdrivers::CServoeNeck::m_PrevAngles
protected

A vector containing the last N angles which where passed to the servo (for averaging)

Definition at line 107 of file CServoeNeck.h.

Referenced by setAngleWithFilter().

mrpt::utils::circular_buffer<uint8_t> mrpt::hwdrivers::CInterfaceFTDI::m_readBuffer
protectedinherited

Used in Read.

Definition at line 150 of file CInterfaceFTDI.h.

Referenced by mrpt::hwdrivers::CInterfaceFTDI::Read().

double mrpt::hwdrivers::CServoeNeck::m_TruncateFactor
protected

The range of turn of the servo will be truncated to "+-m_truncate_factor*(pi/2)".

Definition at line 106 of file CServoeNeck.h.

Referenced by setAngle(), and setAngleAndSpeed().

std::string mrpt::hwdrivers::CServoeNeck::m_usbSerialNumber
protected

A copy of the device serial number (to open the USB FTDI chip).

Definition at line 104 of file CServoeNeck.h.

Referenced by checkConnectionAndConnect().




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