mrpt::hwdrivers::CRoboticHeadInterface Class Reference

Detailed Description

This "software driver" implements the communication protocol for interfacing a Robotic Head Board through a custom USB RS-422 interface board.

In this class the "bind" is ignored since it is designed for USB connections only, thus it internally generate the required object for simplicity of use. The default serial number is "OREJA001"

Warning: Avoid defining an object of this class in a global scope if you want to catch all potential exceptions during the constructors (like USB interface DLL not found, etc...)

 PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
-------------------------------------------------------
  [supplied_section_name]
  HEAD_serialNumber=OREJA001
  HEAD_gain=127,127,127
  HEAD_yaw=0            // initial yaw value
  HEAD_pitch=0          // initial tilt 

Definition at line 45 of file CRoboticHeadInterface.h.

#include <mrpt/hwdrivers/CRoboticHeadInterface.h>

Inheritance diagram for mrpt::hwdrivers::CRoboticHeadInterface:

Public Member Functions
	CRoboticHeadInterface ()
	Constructor. More...
	~CRoboticHeadInterface ()
	Destructor. More...
void	setDeviceSerialNumber (const std::string &deviceSerialNumber)
	Changes the serial number of the device to open. More...
void	GetGain (int &_gain, int &channel)
	Read the gain for the amplifier of the ear "channel", where channel is 0, 1 or 2. More...
bool	SetGain (int &new_gain, int &channel)
	Set the gain for the amplifier each ear. More...
void	GetSoundLocation (int &ang)
	This function return the angle where last sound where detected. More...
void	Get3SoundBuffer (mrpt::math::CMatrixTemplate< int > &buf)
	Debug only!!! This function return the last 500 acquired samples for each sound channel. More...
void	SetHeadPose (int &yaw, int &pitch)
	Move the head in: More...

Protected Member Functions
void	loadConfig_sensorSpecific (const mrpt::utils::CConfigFileBase *configSource, const std::string &iniSection)
	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) See hwdrivers::CSonarSRF10 for the possible parameters. More...

Private Member Functions
bool	checkControllerIsConnected ()

Private Attributes
CInterfaceFTDIMessages	m_usbConnection
utils::CMessage	msg
std::string	m_serialNumber
std::vector< int32_t >	gain
int	head_yaw
int	head_pitch

Constructor & Destructor Documentation

CRoboticHeadInterface()

CRoboticHeadInterface::CRoboticHeadInterface

(

)

Constructor.

Definition at line 21 of file CRoboticHeadInterface.cpp.

References gain, head_pitch, head_yaw, m_serialNumber, MRPT_END, and MRPT_START.

~CRoboticHeadInterface()

mrpt::hwdrivers::CRoboticHeadInterface::~CRoboticHeadInterface ( )

inline

Destructor.

Definition at line 71 of file CRoboticHeadInterface.h.

Member Function Documentation

checkControllerIsConnected()

bool mrpt::hwdrivers::CRoboticHeadInterface::checkControllerIsConnected ( )

private

Get3SoundBuffer()

void CRoboticHeadInterface::Get3SoundBuffer

(

mrpt::math::CMatrixTemplate< int > &

buf

)

Debug only!!! This function return the last 500 acquired samples for each sound channel.

Definition at line 97 of file CRoboticHeadInterface.cpp.

References mrpt::utils::CMessage::content, m_usbConnection, msg, mrpt::utils::CStream::receiveMessage(), mrpt::utils::CStream::sendMessage(), mrpt::math::CMatrixTemplate< T >::setSize(), and mrpt::utils::CMessage::type.

GetGain()

void CRoboticHeadInterface::GetGain	(	int &	_gain,
		int &	channel
	)

Read the gain for the amplifier of the ear "channel", where channel is 0, 1 or 2.

Definition at line 52 of file CRoboticHeadInterface.cpp.

References mrpt::utils::CMessage::content, m_usbConnection, msg, mrpt::utils::CStream::receiveMessage(), mrpt::utils::CStream::sendMessage(), THROW_EXCEPTION, and mrpt::utils::CMessage::type.

GetSoundLocation()

void CRoboticHeadInterface::GetSoundLocation

(

int &

ang

)

This function return the angle where last sound where detected.

This angle is related to the robot pose, NOT head pose.

angle > 0deg --> Sound detected in the left
angle = 0deg --> Sound detected in front of the head
angle < 0deg --> Sound detected in the right

Definition at line 85 of file CRoboticHeadInterface.cpp.

References mrpt::utils::CMessage::content, m_usbConnection, msg, mrpt::utils::CStream::receiveMessage(), mrpt::utils::CStream::sendMessage(), and mrpt::utils::CMessage::type.

loadConfig_sensorSpecific()

void CRoboticHeadInterface::loadConfig_sensorSpecific ( const mrpt::utils::CConfigFileBase *  configSource, const std::string &  iniSection  )

protected

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) See hwdrivers::CSonarSRF10 for the possible parameters.

Definition at line 40 of file CRoboticHeadInterface.cpp.

References gain, head_pitch, head_yaw, m_serialNumber, mrpt::utils::CConfigFileBase::read_int(), mrpt::utils::CConfigFileBase::read_string(), and mrpt::utils::CConfigFileBase::read_vector().

setDeviceSerialNumber()

void mrpt::hwdrivers::CRoboticHeadInterface::setDeviceSerialNumber ( const std::string &  deviceSerialNumber )

inline

Changes the serial number of the device to open.

Definition at line 75 of file CRoboticHeadInterface.h.

SetGain()

bool CRoboticHeadInterface::SetGain	(	int &	new_gain,
		int &	channel
	)

Set the gain for the amplifier each ear.

The value range is [0x00(min) .. 0x7F(max)]. The value 0x80 set the resistor in high impedance state, DON'T USE IT!!!

Definition at line 68 of file CRoboticHeadInterface.cpp.

References mrpt::utils::CMessage::content, m_usbConnection, msg, mrpt::utils::CStream::receiveMessage(), mrpt::utils::CStream::sendMessage(), and mrpt::utils::CMessage::type.

SetHeadPose()

void mrpt::hwdrivers::CRoboticHeadInterface::SetHeadPose	(	int &	yaw,
		int &	pitch
	)

Move the head in:

elevation = 'yaw' degrees
orientation = 'pitch' degrees

Member Data Documentation

gain

std::vector<int32_t> mrpt::hwdrivers::CRoboticHeadInterface::gain

private

Definition at line 51 of file CRoboticHeadInterface.h.

Referenced by CRoboticHeadInterface(), and loadConfig_sensorSpecific().

head_pitch

int mrpt::hwdrivers::CRoboticHeadInterface::head_pitch

private

Definition at line 52 of file CRoboticHeadInterface.h.

Referenced by CRoboticHeadInterface(), and loadConfig_sensorSpecific().

head_yaw

int mrpt::hwdrivers::CRoboticHeadInterface::head_yaw

private

Definition at line 52 of file CRoboticHeadInterface.h.

Referenced by CRoboticHeadInterface(), and loadConfig_sensorSpecific().

m_serialNumber

std::string mrpt::hwdrivers::CRoboticHeadInterface::m_serialNumber

private

Definition at line 50 of file CRoboticHeadInterface.h.

Referenced by CRoboticHeadInterface(), and loadConfig_sensorSpecific().

m_usbConnection

CInterfaceFTDIMessages mrpt::hwdrivers::CRoboticHeadInterface::m_usbConnection

private

Definition at line 48 of file CRoboticHeadInterface.h.

Referenced by Get3SoundBuffer(), GetGain(), GetSoundLocation(), and SetGain().

msg

utils::CMessage mrpt::hwdrivers::CRoboticHeadInterface::msg

private

Definition at line 49 of file CRoboticHeadInterface.h.

Referenced by Get3SoundBuffer(), GetGain(), GetSoundLocation(), and SetGain().