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CRaePID.h
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1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +---------------------------------------------------------------------------+ */
9 #ifndef CRaePID_H
10 #define CRaePID_H
11 
16 
17 namespace mrpt
18 {
19  namespace hwdrivers
20  {
21  /** This class implements a driver for the RAE Systems gas PhotoIonization Detector (PID) (Tested on a MiniRAE Lite)
22  * The sensor is accessed via a standard (or USB) serial port.
23  *
24  * Refer to the manufacturer website for details on this sensor: http://www.raesystems.com/products/minirae-lite
25  *
26  * \sa mrpt::obs::CObservationGasSensors
27  * \ingroup mrpt_hwdrivers_grp
28  */
30  {
32 
33  private:
34  /** COM port name
35  */
37  int com_bauds;
38 
39  /** COM port
40  */
42 
43  /** Poses
44  */
45  float pose_x, pose_y, pose_z, pose_yaw, pose_pitch, pose_roll;
46 
47  /** Returns true if the COM port is already open, or try to open it in other case.
48  * \return true if everything goes OK, or false if there are problems opening the port.
49  */
50  bool tryToOpenTheCOM();
51 
52  public:
53  /** Default constructor.
54  */
55  CRaePID();
56  /** Default destructor.
57  */
58  virtual ~CRaePID(){COM.close();};
59 
60  void doProcess();
61 
62  void loadConfig_sensorSpecific(
63  const mrpt::utils::CConfigFileBase &configSource,
64  const std::string &section);
65 
66  /** Get firmware version string.
67  */
68  std::string getFirmware();
69 
70  /** Get model string.
71  */
72  std::string getModel();
73 
74  /** Get serial number as a string.
75  */
76  std::string getSerialNumber();
77 
78  /** Get name string.
79  */
80  std::string getName();
81 
82  /** Switch power on or off (returns true if turned on).
83  */
84  bool switchPower();
85 
86  /** Get full reading (see PID documentation). In the returned observation, each reding is saved as a separate e-nose
87  */
89 
90  /** Get error status (true if an error was found). errorString shows the error code (see PID documentation)
91  */
92  bool errorStatus(std::string &errorString);
93 
94  /** Get alarm limits
95  */
96  void getLimits(float &min, float &max);
97 
98 
99  }; // End of class def.
100 
101  } // End of namespace
102 } // End of namespace
103 #endif
A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabbe...
#define min(a, b)
A communications serial port built as an implementation of a utils::CStream.
Definition: CSerialPort.h:43
std::string com_port
COM port name.
Definition: CRaePID.h:36
This class implements a driver for the RAE Systems gas PhotoIonization Detector (PID) (Tested on a Mi...
Definition: CRaePID.h:29
This class allows loading and storing values and vectors of different types from a configuration text...
Declares a class derived from "CObservation" that represents a set of readings from gas sensors...
CSerialPort COM
COM port.
Definition: CRaePID.h:41
GLsizei const GLchar ** string
Definition: glext.h:3919
void close()
Close the port.
#define DEFINE_GENERIC_SENSOR(class_name)
This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
virtual ~CRaePID()
Default destructor.
Definition: CRaePID.h:58



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