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 () override=default
	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::CMatrixDynamic< 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...

Static Public Member Functions
static std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > &	logging_levels_to_colors ()
	Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor. More...

static std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > &	logging_levels_to_names ()
	Map from VerbosityLevels to their corresponding names. More...

Protected Member Functions
void	loadConfig_sensorSpecific (const mrpt::config::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 config::CConfigFileBase and derived classes) See hwdrivers::CSonarSRF10 for the possible parameters. More...

Protected Attributes
VerbosityLevel	m_min_verbosity_level {LVL_INFO}
	Provided messages with VerbosityLevel smaller than this value shall be ignored. More...

Private Attributes
mrpt::comms::CInterfaceFTDI	m_usbConnection

mrpt::serialization::CMessage	msg

std::string	m_serialNumber

std::vector< int32_t >	gain

int	head_yaw

int	head_pitch

Logging methods
void	logStr (const VerbosityLevel level, std::string_view msg_str) const
	Main method to add the specified message string to the logger. More...

void	logFmt (const VerbosityLevel level, const char *fmt,...) const MRPT_printf_format_check(3
	Alternative logging method, which mimics the printf behavior. More...

void void	logCond (const VerbosityLevel level, bool cond, const std::string &msg_str) const
	Log the given message only if the condition is satisfied. More...

void	setLoggerName (const std::string &name)
	Set the name of the COutputLogger instance. More...

std::string	getLoggerName () const
	Return the name of the COutputLogger instance. More...

void	setMinLoggingLevel (const VerbosityLevel level)
	Set the minimum logging level for which the incoming logs are going to be taken into account. More...

void	setVerbosityLevel (const VerbosityLevel level)
	alias of setMinLoggingLevel() More...

VerbosityLevel	getMinLoggingLevel () const

bool	isLoggingLevelVisible (VerbosityLevel level) const

void	getLogAsString (std::string &log_contents) const
	Fill the provided string with the contents of the logger's history in std::string representation. More...

std::string	getLogAsString () const
	Get the history of COutputLogger instance in a string representation. More...

void	writeLogToFile (const std::string *fname_in=nullptr) const
	Write the contents of the COutputLogger instance to an external file. More...

void	dumpLogToConsole () const
	Dump the current contents of the COutputLogger instance in the terminal window. More...

std::string	getLoggerLastMsg () const
	Return the last Tmsg instance registered in the logger history. More...

void	getLoggerLastMsg (std::string &msg_str) const
	Fill inputtted string with the contents of the last message in history. More...

void	loggerReset ()
	Reset the contents of the logger instance. More...

void	logRegisterCallback (output_logger_callback_t userFunc)

bool	logDeregisterCallback (output_logger_callback_t userFunc)

bool	logging_enable_console_output {true}
	[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically. More...

bool	logging_enable_keep_record {false}
	[Default=false] Enables storing all messages into an internal list. More...

Constructor & Destructor Documentation

◆ CRoboticHeadInterface()

CRoboticHeadInterface::CRoboticHeadInterface ( )

Constructor.

Definition at line 22 of file CRoboticHeadInterface.cpp.

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

◆ ~CRoboticHeadInterface()

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

overridedefault

Destructor.

Member Function Documentation

◆ dumpLogToConsole()

void COutputLogger::dumpLogToConsole ( ) const

inherited

Dump the current contents of the COutputLogger instance in the terminal window.

See also: writeToFile

Definition at line 190 of file COutputLogger.cpp.

◆ Get3SoundBuffer()

void CRoboticHeadInterface::Get3SoundBuffer ( mrpt::math::CMatrixDynamic< int > & buf )

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

Definition at line 104 of file CRoboticHeadInterface.cpp.

References mrpt::serialization::archiveFrom(), mrpt::serialization::CMessage::content, m_usbConnection, msg, mrpt::math::CMatrixDynamic< T >::setSize(), and mrpt::serialization::CMessage::type.

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◆ 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 56 of file CRoboticHeadInterface.cpp.

References mrpt::serialization::archiveFrom(), mrpt::serialization::CMessage::content, m_usbConnection, msg, THROW_EXCEPTION, and mrpt::serialization::CMessage::type.

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◆ getLogAsString() [1/2]

void COutputLogger::getLogAsString ( std::string & log_contents ) const

inherited

Fill the provided string with the contents of the logger's history in std::string representation.

Definition at line 154 of file COutputLogger.cpp.

◆ getLogAsString() [2/2]

std::string COutputLogger::getLogAsString ( ) const

inherited

Get the history of COutputLogger instance in a string representation.

Definition at line 159 of file COutputLogger.cpp.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::getDescriptiveReport().

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◆ getLoggerLastMsg() [1/2]

std::string COutputLogger::getLoggerLastMsg ( ) const

inherited

Return the last Tmsg instance registered in the logger history.

Definition at line 195 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::getAsString().

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◆ getLoggerLastMsg() [2/2]

void COutputLogger::getLoggerLastMsg ( std::string & msg_str ) const

inherited

Fill inputtted string with the contents of the last message in history.

Definition at line 201 of file COutputLogger.cpp.

◆ getLoggerName()

std::string COutputLogger::getLoggerName ( ) const

inherited

Return the name of the COutputLogger instance.

See also: setLoggerName

Definition at line 143 of file COutputLogger.cpp.

◆ getMinLoggingLevel()

VerbosityLevel mrpt::system::COutputLogger::getMinLoggingLevel ( ) const

inlineinherited

See also: setMinLoggingLevel

Definition at line 201 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::apps::RawlogGrabberApp::dump_verbose_info(), mrpt::maps::CRandomFieldGridMap2D::isEnabledVerbose(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), and mrpt::apps::ICP_SLAM_App_Base::run().

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◆ 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 91 of file CRoboticHeadInterface.cpp.

References mrpt::serialization::archiveFrom(), mrpt::serialization::CMessage::content, m_usbConnection, msg, and mrpt::serialization::CMessage::type.

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◆ isLoggingLevelVisible()

bool mrpt::system::COutputLogger::isLoggingLevelVisible ( VerbosityLevel level ) const

inlineinherited

Definition at line 202 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper().

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◆ loadConfig_sensorSpecific()

void CRoboticHeadInterface::loadConfig_sensorSpecific	(	const mrpt::config::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 config::CConfigFileBase and derived classes) See hwdrivers::CSonarSRF10 for the possible parameters.

Definition at line 41 of file CRoboticHeadInterface.cpp.

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

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◆ logCond()

void COutputLogger::logCond	(	const VerbosityLevel	level,
		bool	cond,
		const std::string &	msg_str
	)		const

inherited

Log the given message only if the condition is satisfied.

See also: log, logFmt

Definition at line 131 of file COutputLogger.cpp.

◆ logDeregisterCallback()

bool COutputLogger::logDeregisterCallback ( output_logger_callback_t userFunc )

inherited

Returns: true if an entry was found and deleted.

Definition at line 291 of file COutputLogger.cpp.

References getAddress(), and mrpt::system::COutputLogger::m_listCallbacks.

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◆ logFmt()

void COutputLogger::logFmt	(	const VerbosityLevel	level,
		const char *	fmt,
			...
	)		const

inherited

Alternative logging method, which mimics the printf behavior.

Handy for not having to first use mrpt::format to pass a std::string message to logStr

// instead of:
logStr(mrpt::format("Today is the %d of %s, %d", 15, "July", 2016));
// one can use:
logFmt("Today is the %d of %s, %d", 15, "July", 2016);

See also: logStr, logCond

Definition at line 91 of file COutputLogger.cpp.

Referenced by mrpt::hmtslam::CHMTSLAM::areaAbstraction(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::CICPCriteriaNRD(), mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), CGraphSlamHandler< GRAPH_T >::execute(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), CGraphSlamHandler< GRAPH_T >::initOutputDir(), CGraphSlamHandler< GRAPH_T >::initVisualization(), mrpt::nav::CNavigatorManualSequence::navigationStep(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), CGraphSlamHandler< GRAPH_T >::readConfigFname(), CGraphSlamHandler< GRAPH_T >::saveResults(), CGraphSlamHandler< GRAPH_T >::setResultsDirName(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), mrpt::hmtslam::CHMTSLAM::thread_3D_viewer(), mrpt::hmtslam::CHMTSLAM::thread_LSLAM(), mrpt::hmtslam::CHMTSLAM::thread_TBI(), and CGraphSlamHandler< GRAPH_T >::~CGraphSlamHandler().

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◆ loggerReset()

void COutputLogger::loggerReset ( )

inherited

Reset the contents of the logger instance.

Called upon construction.

Definition at line 206 of file COutputLogger.cpp.

References mrpt::system::LVL_INFO.

◆ logging_levels_to_colors()

std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_colors ( )

staticinherited

Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor.

Handy for coloring the input based on the verbosity of the message

Definition at line 47 of file COutputLogger.cpp.

References logging_levels_to_colors.

Referenced by mrpt::system::COutputLogger::TMsg::dumpToConsole().

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◆ logging_levels_to_names()

std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_names ( )

staticinherited

Map from VerbosityLevels to their corresponding names.

Handy for printing the current message VerbosityLevel along with the actual content

Definition at line 60 of file COutputLogger.cpp.

References logging_levels_to_names.

Referenced by mrpt::system::COutputLogger::TMsg::getAsString().

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◆ logRegisterCallback()

void COutputLogger::logRegisterCallback ( output_logger_callback_t userFunc )

inherited

Definition at line 278 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::m_listCallbacks.

◆ logStr()

void COutputLogger::logStr	(	const VerbosityLevel	level,
		std::string_view	msg_str
	)		const

inherited

Main method to add the specified message string to the logger.

See also: logCond, logFmt

Definition at line 72 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::body, mrpt::system::COutputLogger::TMsg::dumpToConsole(), mrpt::system::COutputLogger::TMsg::level, mrpt::system::COutputLogger::TMsg::name, and mrpt::system::COutputLogger::TMsg::timestamp.

Referenced by mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper(), and mrpt::system::CTimeLoggerSaveAtDtor::~CTimeLoggerSaveAtDtor().

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◆ setDeviceSerialNumber()

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

inline

Changes the serial number of the device to open.

Definition at line 78 of file CRoboticHeadInterface.h.

References m_serialNumber.

◆ 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 73 of file CRoboticHeadInterface.cpp.

References mrpt::serialization::archiveFrom(), mrpt::serialization::CMessage::content, m_usbConnection, msg, and mrpt::serialization::CMessage::type.

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◆ SetHeadPose()

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

Move the head in:

elevation = 'yaw' degrees

orientation = 'pitch' degrees

◆ setLoggerName()

void COutputLogger::setLoggerName ( const std::string & name )

inherited

Set the name of the COutputLogger instance.

See also: getLoggerName

Definition at line 138 of file COutputLogger.cpp.

Referenced by mrpt::slam::CMetricMapBuilderICP::CMetricMapBuilderICP(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::slam::CMonteCarloLocalization2D::CMonteCarloLocalization2D(), mrpt::slam::CMonteCarloLocalization3D::CMonteCarloLocalization3D(), mrpt::apps::ICP_SLAM_App_Base::ICP_SLAM_App_Base(), mrpt::apps::ICP_SLAM_App_Live::ICP_SLAM_App_Live(), mrpt::apps::ICP_SLAM_App_Rawlog::ICP_SLAM_App_Rawlog(), mrpt::graphslam::CWindowManager::initCWindowManager(), mrpt::apps::MonteCarloLocalization_Base::MonteCarloLocalization_Base(), mrpt::apps::RBPF_SLAM_App_Base::RBPF_SLAM_App_Base(), and mrpt::apps::RBPF_SLAM_App_Rawlog::RBPF_SLAM_App_Rawlog().

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◆ setMinLoggingLevel()

void COutputLogger::setMinLoggingLevel ( const VerbosityLevel level )

inherited

Set the minimum logging level for which the incoming logs are going to be taken into account.

String messages with specified VerbosityLevel smaller than the min, will not be outputted to the screen and neither will a record of them be stored in by the COutputLogger instance

Definition at line 144 of file COutputLogger.cpp.

Referenced by mrpt::maps::CRandomFieldGridMap2D::enableVerbose(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), generic_kf_slam_test(), generic_pf_test(), generic_rbpf_slam_test(), mrpt::apps::RawlogGrabberApp::initialize(), mrpt::hwdrivers::CHokuyoURG::initialize(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), and mrpt::apps::ICP_SLAM_App_Base::run().

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◆ setVerbosityLevel()

void COutputLogger::setVerbosityLevel ( const VerbosityLevel level )

inherited

alias of setMinLoggingLevel()

Definition at line 149 of file COutputLogger.cpp.

Referenced by mrpt::nav::CAbstractNavigator::CAbstractNavigator(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::comms::CServerTCPSocket::CServerTCPSocket(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::math::ransac_detect_2D_lines(), and mrpt::apps::ICP_SLAM_App_Base::run().

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◆ writeLogToFile()

void COutputLogger::writeLogToFile ( const std::string * fname_in = nullptr ) const

inherited

Write the contents of the COutputLogger instance to an external file.

Upon call to this method, COutputLogger dumps the contents of all the logged commands so far to the specified external file. By default the filename is set to ${LOGGERNAME}.log except if the fname parameter is provided

See also: dumpToConsole, getAsString

Definition at line 165 of file COutputLogger.cpp.

References ASSERTMSG_, and mrpt::format().

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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().

◆ logging_enable_console_output

bool mrpt::system::COutputLogger::logging_enable_console_output {true}

inherited

[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically.

Definition at line 240 of file system/COutputLogger.h.

◆ logging_enable_keep_record

bool mrpt::system::COutputLogger::logging_enable_keep_record {false}

inherited

[Default=false] Enables storing all messages into an internal list.

See also: writeLogToFile, getLogAsString

Definition at line 243 of file system/COutputLogger.h.

◆ m_min_verbosity_level

VerbosityLevel mrpt::system::COutputLogger::m_min_verbosity_level {LVL_INFO}

protectedinherited

Provided messages with VerbosityLevel smaller than this value shall be ignored.

Definition at line 253 of file system/COutputLogger.h.

Referenced by mrpt::system::COutputLogger::getMinLoggingLevel(), and mrpt::system::COutputLogger::isLoggingLevelVisible().

◆ m_serialNumber

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

private

Definition at line 50 of file CRoboticHeadInterface.h.

Referenced by CRoboticHeadInterface(), loadConfig_sensorSpecific(), and setDeviceSerialNumber().

◆ m_usbConnection

mrpt::comms::CInterfaceFTDI mrpt::hwdrivers::CRoboticHeadInterface::m_usbConnection

private

Definition at line 48 of file CRoboticHeadInterface.h.

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

◆ msg

mrpt::serialization::CMessage mrpt::hwdrivers::CRoboticHeadInterface::msg

private

Definition at line 49 of file CRoboticHeadInterface.h.

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

Detailed Description

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Attributes

Logging methods

Constructor & Destructor Documentation

◆ CRoboticHeadInterface()

◆ ~CRoboticHeadInterface()

Member Function Documentation

◆ dumpLogToConsole()

◆ Get3SoundBuffer()

◆ GetGain()

◆ getLogAsString() [1/2]

◆ getLogAsString() [2/2]

◆ getLoggerLastMsg() [1/2]

◆ getLoggerLastMsg() [2/2]

◆ getLoggerName()

◆ getMinLoggingLevel()

◆ GetSoundLocation()

◆ isLoggingLevelVisible()

◆ loadConfig_sensorSpecific()

◆ logCond()

◆ logDeregisterCallback()

◆ logFmt()

◆ loggerReset()

◆ logging_levels_to_colors()

◆ logging_levels_to_names()

◆ logRegisterCallback()

◆ logStr()

◆ setDeviceSerialNumber()

◆ SetGain()

◆ SetHeadPose()

◆ setLoggerName()

◆ setMinLoggingLevel()

◆ setVerbosityLevel()

◆ writeLogToFile()

Member Data Documentation

◆ gain

◆ head_pitch

◆ head_yaw

◆ logging_enable_console_output

◆ logging_enable_keep_record

◆ m_min_verbosity_level

◆ m_serialNumber

◆ m_usbConnection

◆ msg