Detailed Description

A class to interface a Rovio robot (manufactured by WowWee).

Supports: Simple motion commands, video streaming.

Definition at line 30 of file CRovio.h.

#include <mrpt/hwdrivers/CRovio.h>

Classes
struct	TEncoders

struct	TOptions

struct	TRovioState

Public Types
enum	status { idle, driving_home, docking, executing_path, recording_path }

Public Member Functions
void	initialize ()
	Establish Connection with Rovio and log in its system: Important, fill out "options" members BEFORE calling this method. More...

bool	move (char direction, int speed=5)
	move send Rovio the command to move in the specified direcction More...

bool	rotate (char direction, int speed=5)
	rotate send Rovio the command to rotate in the specified direcction 'r'->right, 'l'->left More...

bool	takeHeadUp ()
	Head positions. More...

bool	takeHeadMiddle ()

bool	takeHeadDown ()

bool	pathRecord ()

bool	pathRecordAbort ()

bool	pathRecordSave (const std::string &path_name)

bool	pathDelete (const std::string &path_name)

bool	pathGetList (std::string &path_list)
	Get list of saved paths. More...

bool	pathRunForward ()

bool	pathRunBackward ()

bool	pathRunStop ()

bool	pathRunPause ()

bool	pathRename (const std::string &old_name, const std::string &new_name)

bool	goHome (bool dock, int speed=5)
	goHome(bool dock) drives Rovio in front of charging station if the paremeter dock is set to false, otherwise it also docks More...

void	loadConfig (const mrpt::utils::CConfigFileBase &configSource, const std::string &section)
	Loads the rovio camera calibration parameters (of leave the default ones if not found) (See CGenericSensor), then call to "loadConfig_sensorSpecific". More...

bool	retrieve_video ()
	This function launchs a thread with the function "thread_video()" which gets frames into a buffer. More...

bool	stop_video ()
	This function stops and joins the thread launched by "retrieve_video()". More...

bool	getNextImageSync (mrpt::obs::CObservationImagePtr &lastImage)
	Returns the next frame from Rovio's live video stream, after starting the live streaming with retrieve_video() More...

bool	captureImageAsync (mrpt::utils::CImage &out_img, bool recttified)
	Returns a snapshot from Rovio, if rectified is set true, the returned image is rectified with the parameters of intrinsic_matrix and distortion_matrix. More...

bool	isVideoStreamming () const
	Return true if video is streaming correctly. More...

bool	getRovioState (TRovioState &state)
	Returns a TRovioState with internal information of Rovio (State, Navigation Signal Strength, Wifi Signal Strength) More...

bool	getEncoders (TEncoders &encoders)
	Returns a TEncoders with information of Rovio encoders (since last read, it seems Rovio is continuously reading with unknown sample time) More...

bool	getPosition (mrpt::math::TPose2D &out_pose)
	Returns the Rovio's pose. More...

	CRovio ()

virtual	~CRovio ()

Public Attributes
struct mrpt::hwdrivers::CRovio::TOptions	options

struct mrpt::hwdrivers::CRovio::TEncoders	encoders

Private Member Functions
void	thread_video ()
	This function takes a frame and waits until getLastImage ask for it, and so on. More...

bool	send_cmd_action (int act, int speed)

bool	path_management (int act)

bool	path_management (int act, const std::string &path_name)

bool	general_command (int act, std::string &response, std::string &errormsg)

Private Attributes
mrpt::system::TThreadHandle	m_videoThread

bool	m_videothread_must_exit

bool	m_videothread_initialized_done

bool	m_videothread_initialized_error

bool	m_videothread_finished

mrpt::obs::CObservationImagePtr	buffer_img

mrpt::synch::CCriticalSection	buffer_img_cs

Member Enumeration Documentation

◆ status

enum mrpt::hwdrivers::CRovio::status

Enumerator
idle
driving_home
docking
executing_path
recording_path

Definition at line 68 of file CRovio.h.

Constructor & Destructor Documentation

◆ CRovio()

CRovio::CRovio ( )

Definition at line 506 of file CRovio.cpp.

◆ ~CRovio()

CRovio::~CRovio ( )

virtual

Definition at line 511 of file CRovio.cpp.

References isVideoStreamming(), and stop_video().

Member Function Documentation

◆ captureImageAsync()

bool CRovio::captureImageAsync	(	mrpt::utils::CImage &	out_img,
		bool	recttified
	)

Returns a snapshot from Rovio, if rectified is set true, the returned image is rectified with the parameters of intrinsic_matrix and distortion_matrix.

This function works asynchronously and does not need to have enabled the live video streaming.

Returns: False on error

See also: captureImageSync

Definition at line 350 of file CRovio.cpp.

References mrpt::hwdrivers::CRovio::TOptions::cameraParams, mrpt::format(), mrpt::utils::net::http_get(), mrpt::hwdrivers::CRovio::TOptions::IP, mrpt::utils::CImage::loadFromStreamAsJPEG(), options, mrpt::hwdrivers::CRovio::TOptions::password, mrpt::utils::CImage::rectifyImageInPlace(), and mrpt::hwdrivers::CRovio::TOptions::user.

◆ general_command()

bool CRovio::general_command	(	int	act,
		std::string &	response,
		std::string &	errormsg
	)

private

Definition at line 90 of file CRovio.cpp.

References mrpt::format(), mrpt::utils::net::http_get(), mrpt::hwdrivers::CRovio::TOptions::IP, options, mrpt::hwdrivers::CRovio::TOptions::password, and mrpt::hwdrivers::CRovio::TOptions::user.

Referenced by getEncoders(), getPosition(), getRovioState(), and pathGetList().

◆ getEncoders()

bool CRovio::getEncoders ( CRovio::TEncoders & encoders )

Returns a TEncoders with information of Rovio encoders (since last read, it seems Rovio is continuously reading with unknown sample time)

Returns: False on error

Definition at line 411 of file CRovio.cpp.

References convertToLong(), encoders, mrpt::obs::gnss::error, general_command(), mrpt::hwdrivers::CRovio::TEncoders::left, MRPT_UNUSED_PARAM, and mrpt::system::os::strcpy().

◆ getNextImageSync()

bool CRovio::getNextImageSync ( mrpt::obs::CObservationImagePtr & lastImage )

Returns the next frame from Rovio's live video stream, after starting the live streaming with retrieve_video()

Returns: False on error

See also: retrieve_video, captureImageAsync

Definition at line 331 of file CRovio.cpp.

References buffer_img, buffer_img_cs, and isVideoStreamming().

◆ getPosition()

bool CRovio::getPosition ( mrpt::math::TPose2D & out_pose )

Returns the Rovio's pose.

Returns: False on error

Definition at line 470 of file CRovio.cpp.

References general_command(), mrpt::math::TPose2D::phi, mrpt::system::os::strcpy(), mrpt::math::TPose2D::x, and mrpt::math::TPose2D::y.

◆ getRovioState()

bool CRovio::getRovioState ( CRovio::TRovioState & status )

Returns a TRovioState with internal information of Rovio (State, Navigation Signal Strength, Wifi Signal Strength)

Returns: False on error

Definition at line 377 of file CRovio.cpp.

References mrpt::obs::gnss::error, general_command(), MRPT_UNUSED_PARAM, mrpt::system::os::strcpy(), and mrpt::math::TPose2D::x.

◆ goHome()

bool CRovio::goHome	(	bool	dock,
		int	speed = `5`
	)

goHome(bool dock) drives Rovio in front of charging station if the paremeter dock is set to false, otherwise it also docks

Returns: False on error

Definition at line 202 of file CRovio.cpp.

References send_cmd_action().

◆ initialize()

void CRovio::initialize ( void )

Establish Connection with Rovio and log in its system: Important, fill out "options" members BEFORE calling this method.

Exceptions

std::runtime On errors

Definition at line 43 of file CRovio.cpp.

References mrpt::format(), mrpt::utils::net::http_get(), mrpt::hwdrivers::CRovio::TOptions::IP, options, mrpt::hwdrivers::CRovio::TOptions::password, THROW_EXCEPTION_FMT, and mrpt::hwdrivers::CRovio::TOptions::user.

◆ isVideoStreamming()

bool CRovio::isVideoStreamming ( ) const

Return true if video is streaming correctly.

See also: retrieve_video

Definition at line 312 of file CRovio.cpp.

References mrpt::system::TThreadHandle::isClear(), m_videoThread, and m_videothread_finished.

Referenced by getNextImageSync(), stop_video(), and ~CRovio().

◆ loadConfig()

void CRovio::loadConfig	(	const mrpt::utils::CConfigFileBase &	configSource,
		const std::string &	section
	)

Loads the rovio camera calibration parameters (of leave the default ones if not found) (See CGenericSensor), then call to "loadConfig_sensorSpecific".

Exceptions