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:

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. 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...

CStream &	operator<< (const CSerializablePtr &pObj)
	Write an object to a stream in the binary MRPT format. More...

CStream &	operator<< (const CSerializable &obj)
	Write an object to a stream in the binary MRPT format. More...

CStream &	operator>> (CSerializablePtr &pObj)

CStream &	operator>> (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...

void *	m_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

◆ TSeekOrigin

enum mrpt::utils::CStream::TSeekOrigin

inherited

Used in CStream::Seek.

Enumerator
sFromBeginning
sFromCurrent
sFromEnd

Definition at line 42 of file CStream.h.

Constructor & Destructor Documentation

◆ CServoeNeck()

CServoeNeck::CServoeNeck ( )

Definition at line 25 of file CServoeNeck.cpp.

References m_offsets.

◆ ~CServoeNeck()

CServoeNeck::~CServoeNeck ( )

Definition at line 37 of file CServoeNeck.cpp.

Member Function Documentation

◆ angle2RegValue()

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

The	angle 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().

◆ center()

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().

◆ checkConnectionAndConnect()

bool CServoeNeck::checkConnectionAndConnect ( )

private

Tries to connect to the USB device (if disconnected).

Returns: True on connection OK, false on error.

Definition at line 375 of file CServoeNeck.cpp.

References mrpt::hwdrivers::CInterfaceFTDI::Close(), mrpt::hwdrivers::CInterfaceFTDI::isOpen(), m_usbSerialNumber, mrpt::hwdrivers::CInterfaceFTDI::OpenBySerialNumber(), mrpt::hwdrivers::CInterfaceFTDI::Purge(), mrpt::hwdrivers::CInterfaceFTDI::SetLatencyTimer(), mrpt::hwdrivers::CInterfaceFTDI::SetTimeouts(), and mrpt::system::sleep().

Referenced by queryFirmwareVersion().

◆ Close()

void mrpt::hwdrivers::CInterfaceFTDI::Close ( )

inherited

Close the USB device.

Referenced by checkConnectionAndConnect(), disableServo(), enableServo(), getRegisterValue(), queryFirmwareVersion(), setRegisterValue(), setRegisterValueAndSpeed(), and mrpt::hwdrivers::CSickLaserUSB::waitContinuousSampleFrame().

◆ disableServo()

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

Disables the servo so the neck will be loose.

Parameters

Servo the 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.

◆ enableServo()

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

Enables the servo so the neck will be tight.

Parameters

Servo the 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.

◆ ftdi_read()

void mrpt::hwdrivers::CInterfaceFTDI::ftdi_read	(	void *	lpvBuffer,
		unsigned long	dwBuffSize,
		unsigned long *	lpdwBytesRead
	)

protectedinherited

Referenced by mrpt::hwdrivers::CInterfaceFTDI::Read(), and mrpt::hwdrivers::CInterfaceFTDI::ReadBufferImmediate().

◆ ftdi_write()

void mrpt::hwdrivers::CInterfaceFTDI::ftdi_write	(	const void *	lpvBuffer,
		unsigned long	dwBuffSize,
		unsigned long *	lpdwBytes
	)

protectedinherited

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

◆ getCurrentAngle()

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().

◆ getline()

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.

◆ getNumberOfPreviousAngles()

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

inline

Gets the truncate factor of the turn.

Definition at line 97 of file CServoeNeck.h.

◆ getPosition()

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.

◆ getRegisterValue()

bool CServoeNeck::getRegisterValue	(	uint16_t &	value,
		const uint8_t	servo = `0`
	)

protected

Definition at line 182 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.

Referenced by getCurrentAngle().

◆ getTotalBytesCount()

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.

◆ getTruncateFactor()

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

inline

Gets the truncate factor of the turn.

Definition at line 85 of file CServoeNeck.h.

◆ internal_ReadObject()

template<bool EXISTING_OBJ>

void CStream::internal_ReadObject	(	CSerializablePtr &	newObj,
		CSerializable *	existingObj = `NULL`
	)

protectedinherited

A common template code for both versions of CStream::ReadObject()

EXISTING_OBJ=true -> read in the object passed as argument
EXISTING_OBJ=false -> build a new object and return it

Definition at line 357 of file CStream.cpp.

References ASSERT_, mrpt::utils::TRuntimeClassId::className, mrpt::utils::TRuntimeClassId::createObject(), mrpt::utils::findRegisteredClass(), mrpt::format(), mrpt::utils::CSerializable::GetRuntimeClass(), mrpt::utils::registerAllPendingClasses(), SERIALIZATION_END_FLAG, THROW_EXCEPTION, THROW_EXCEPTION_FMT, THROW_STACKED_EXCEPTION_CUSTOM_MSG2, THROW_TYPED_EXCEPTION, and version.

◆ isOpen()

bool mrpt::hwdrivers::CInterfaceFTDI::isOpen ( )

inherited

Checks whether the chip has been successfully open.

See also: OpenBySerialNumber, OpenByDescription

Referenced by checkConnectionAndConnect(), mrpt::hwdrivers::CSickLaserUSB::checkControllerIsConnected(), disableServo(), enableServo(), getRegisterValue(), setRegisterValue(), and setRegisterValueAndSpeed().

◆ ListAllDevices()

void mrpt::hwdrivers::CInterfaceFTDI::ListAllDevices ( TFTDIDeviceList & outList )

inherited

Generates a list with all FTDI devices connected right now.

◆ OpenByDescription()

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

inherited

Open by device description.

◆ OpenBySerialNumber()

void mrpt::hwdrivers::CInterfaceFTDI::OpenBySerialNumber ( const std::string & serialNumber )

inherited

Open by device serial number.

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

◆ operator<<() [1/2]

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.

◆ operator<<() [2/2]

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.

◆ operator>>() [1/2]

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

inherited

Definition at line 224 of file CStream.cpp.

◆ operator>>() [2/2]

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

inherited

Definition at line 230 of file CStream.cpp.

◆ printf()

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.

◆ printf_vector()

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_TYPE can be any vector<T>, deque<T> or alike.

Definition at line 208 of file CStream.h.

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

◆ Purge()

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

inherited

Purge the I/O buffers.

Referenced by checkConnectionAndConnect().

◆ queryFirmwareVersion()

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.

◆ Read()

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().

◆ ReadAsAndCastTo()

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.

◆ ReadBuffer()

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

inherited

Reads a block of bytes from the stream into Buffer.

Exceptions

std::exception On 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::system::loadBinaryFile(), mrpt::utils::CMemoryStream::loadBufferFromFile(), and mrpt::hwdrivers::CHokuyoURG::purgeBuffers().

◆ ReadBufferFixEndianness()

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

ElementCount	The number of elements (not bytes) to read.
ptr	A 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:
uint32_t N;
s >> N;
vector<float> vec(N);
if (N)
s.ReadBufferFixEndianness<float>(&vec[0],N);

Exceptions

std::exception On 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::math::operator>>(), and triangle_readFromStream().

◆ ReadBufferImmediate()

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::exception On 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().

◆ ReadObject() [1/2]

CSerializablePtr CStream::ReadObject ( )

inherited

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

Exceptions

std::exception	On I/O error or undefined class.
mrpt::utils::CExceptionEOF	On 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::nav::CAbstractPTGBasedReactive::performNavigationStep(), mrpt::utils::RawStringToObject(), mrpt::utils::StringToObject(), and TEST().

◆ ReadObject() [2/2]

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::exception	On I/O error or different class found.
mrpt::utils::CExceptionEOF	On 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.

◆ ReadSync()

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().

◆ receiveMessage()

bool CStream::receiveMessage ( utils::CMessage & msg )

inherited

Tries to receive a message from the device.

Exceptions

std::exception On communication errors

Returns: True if successful, false if there is no new data from the device (but communications seem to work fine)

See also: The frame format is described in sendMessage()

Definition at line 590 of file CStream.cpp.

References mrpt::utils::CMessage::content, MAKEWORD16B, 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(), mrpt::hwdrivers::CEnoseModular::getObservation(), mrpt::hwdrivers::CBoardENoses::getObservation(), getRegisterValue(), mrpt::hwdrivers::CRoboticHeadInterface::GetSoundLocation(), queryFirmwareVersion(), mrpt::hwdrivers::CBoardENoses::queryFirmwareVersion(), mrpt::hwdrivers::CRoboticHeadInterface::SetGain(), setRegisterValue(), and setRegisterValueAndSpeed().

◆ recursive_fill_list_devices()

void mrpt::hwdrivers::CInterfaceFTDI::recursive_fill_list_devices	(	void *	usb_device_structure,
		TFTDIDeviceList &	outList
	)

protectedinherited

Process recursively a USB device and its children:

◆ regValue2angle()

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

The	value to convert.

Returns: The corresponding angle.

Definition at line 91 of file CServoeNeck.cpp.

References M_PI.

Referenced by getCurrentAngle().

◆ ResetDevice()

void mrpt::hwdrivers::CInterfaceFTDI::ResetDevice ( )

inherited

Reset the USB device.

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

◆ Seek() [1/2]

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.

◆ Seek() [2/2]

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.

◆ sendMessage()

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::exception On 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().

◆ setAngle()

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

Angle	the desired angle to turn.
Servo	the id of the servo to move (in our ATMEGA16, from 0 to 2).
Fast	indicates 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().

◆ setAngleAndSpeed()

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

Angle	the desired angle to turn.
Servo	the id of the servo to move (in our ATMEGA16, from 0 to 2).
Speed	indicates 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().

◆ setAngleWithFilter()

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

Angle	the new desired angle to turn.
Servo	the id of the servo to move (in our ATMEGA16, from 0 to 2).
Fast	indicates 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().

◆ SetLatencyTimer()

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().

◆ setNumberOfPreviousAngles()

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.

◆ setOffsets()

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.

◆ setRegisterValue()

bool CServoeNeck::setRegisterValue	(	const uint16_t	value,
		const uint8_t	servo = `0`,
		bool	fast = `false`
	)

protected

Definition at line 105 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(), mrpt::system::sleep(), and mrpt::utils::CMessage::type.

Referenced by center(), and setAngle().

◆ setRegisterValueAndSpeed()

bool CServoeNeck::setRegisterValueAndSpeed	(	const uint16_t	value,
		const uint8_t	servo,
		const uint16_t	speed
	)

protected

Definition at line 144 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(), mrpt::system::sleep(), and mrpt::utils::CMessage::type.

Referenced by setAngleAndSpeed().

◆ SetTimeouts()

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().

◆ setTruncateFactor()

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_.

◆ Write()

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().

◆ WriteBuffer()

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

inherited

Writes a block of bytes to the stream from Buffer.

Exceptions

std::exception On 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.

◆ WriteBufferFixEndianness()

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

ElementCount	The number of elements (not bytes) to write.
ptr	A 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::exception On any error

See also: WriteBuffer

Definition at line 139 of file CStream.h.

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

◆ WriteObject()

void CStream::WriteObject ( const CSerializable * o )

inherited

Writes an object to the stream.

Definition at line 166 of file CStream.cpp.

References ASSERT_, mrpt::utils::TRuntimeClassId::className, mrpt::utils::CSerializable::GetRuntimeClass(), MRPT_END, MRPT_START, SERIALIZATION_END_FLAG, version, and mrpt::utils::CSerializable::writeToStream().

Referenced by mrpt::utils::mrpt_send_to_zmq(), mrpt::utils::ObjectToOctetVector(), mrpt::utils::ObjectToRawString(), mrpt::utils::ObjectToString(), and mrpt::utils::CMessage::serializeObject().

◆ WriteSync()

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

◆ m_ftdi_context

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

protectedinherited

Definition at line 227 of file CInterfaceFTDI.h.

◆ m_MaxValue

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.

◆ m_NumPrevAngles

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().

◆ m_offsets

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().

◆ m_PrevAngles

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().

◆ m_readBuffer

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().

◆ m_TruncateFactor

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().

◆ m_usbSerialNumber

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().

Detailed Description

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Member Enumeration Documentation

◆ TSeekOrigin

Constructor & Destructor Documentation

◆ CServoeNeck()

◆ ~CServoeNeck()

Member Function Documentation

◆ angle2RegValue()

◆ center()

◆ checkConnectionAndConnect()

◆ Close()

◆ disableServo()

◆ enableServo()

◆ ftdi_read()

◆ ftdi_write()

◆ getCurrentAngle()

◆ getline()

◆ getNumberOfPreviousAngles()

◆ getPosition()

◆ getRegisterValue()

◆ getTotalBytesCount()

◆ getTruncateFactor()

◆ internal_ReadObject()

◆ isOpen()

◆ ListAllDevices()

◆ OpenByDescription()

◆ OpenBySerialNumber()

◆ operator<<() [1/2]

◆ operator<<() [2/2]

◆ operator>>() [1/2]

◆ operator>>() [2/2]

◆ printf()

◆ printf_vector()

◆ Purge()

◆ queryFirmwareVersion()

◆ Read()

◆ ReadAsAndCastTo()

◆ ReadBuffer()

◆ ReadBufferFixEndianness()

◆ ReadBufferImmediate()

◆ ReadObject() [1/2]

◆ ReadObject() [2/2]

◆ ReadSync()

◆ receiveMessage()

◆ recursive_fill_list_devices()

◆ regValue2angle()

◆ ResetDevice()

◆ Seek() [1/2]

◆ Seek() [2/2]

◆ sendMessage()

◆ setAngle()

◆ setAngleAndSpeed()

◆ setAngleWithFilter()

◆ SetLatencyTimer()

◆ setNumberOfPreviousAngles()

◆ setOffsets()

◆ setRegisterValue()

◆ setRegisterValueAndSpeed()

◆ SetTimeouts()

◆ setTruncateFactor()

◆ Write()

◆ WriteBuffer()

◆ WriteBufferFixEndianness()

◆ WriteObject()

◆ WriteSync()

Member Data Documentation

◆ m_ftdi_context

◆ m_MaxValue

◆ m_NumPrevAngles

◆ m_offsets

◆ m_PrevAngles

◆ m_readBuffer

◆ m_TruncateFactor

◆ m_usbSerialNumber