Detailed Description

This "software driver" implements the communication protocol for interfacing a SICK LMS 2XX laser scanners through a standard RS232 serial port (or a USB2SERIAL converter).

The serial port is opened upon the first call to "doProcess" or "initialize", so you must call "loadConfig" before this, or manually call "setSerialPort". Another alternative is to call the base class method C2DRangeFinderAbstract::bindIO, but the "setSerialPort" interface is probably much simpler to use.

For an example of usage see the example in "samples/SICK_laser_serial_test". See also the example configuration file for rawlog-grabber in "share/mrpt/config_files/rawlog-grabber".

 PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
-------------------------------------------------------
  [supplied_section_name]
  COM_port_WIN = COM1   // Serial port to connect to
  COM_port_LIN = ttyS0
  COM_baudRate = 38400 // Possible values: 9600 (default), 38400, 5000000
  mm_mode      = 1/0   // 1: millimeter mode, 0:centimeter mode (Default=0)
  FOV          = 180   // Field of view: 100 or 180 degrees (Default=180)
  resolution   =  50   // Scanning resolution, in units of 1/100 degree.
Valid values: 25,50,100 (Default=50)
  pose_x=0.21   // Laser range scaner 3D position in the robot (meters)
  pose_y=0
  pose_z=0.34
  pose_yaw=0    // Angles in degrees
  pose_pitch=0
  pose_roll=0

See also: C2DRangeFinderAbstract

Definition at line 57 of file CCANBusReader.h.

#include <mrpt/hwdrivers/CCANBusReader.h>

Inheritance diagram for mrpt::hwdrivers::CCANBusReader:

Public Types
enum	TSensorState { ssInitializing = 0, ssWorking, ssError, ssUninitialized }
	The current state of the sensor. More...

using	Ptr = std::shared_ptr< CGenericSensor >

using	TListObservations = std::multimap< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr >

using	TListObsPair = std::pair< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr >

Public Member Functions
	CCANBusReader ()
	Constructor. More...

	~CCANBusReader () override
	Destructor. More...

void	setSerialPort (const std::string &port)
	Changes the serial port to connect to (call prior to 'doProcess'), for example "COM1" or "ttyS0". More...

std::string	getSerialPort () const

void	setBaudRate (int baud)
	Changes the serial port baud rate (call prior to 'doProcess'); valid values are 9600,38400 and 500000. More...

int	getBaudRate () const

void	setCANReaderTimeStamping (bool setTimestamp=false)
	Enables/Disables the addition of a timestamp according to the arrival time to the converter (default=false) (call prior to 'doProcess') This is not needed if the configuration is loaded with "loadConfig". More...

bool	getCANReaderTimeStamping ()

void	setCANReaderSpeed (const unsigned int speed)
	Sets the CAN reader speed when connecting to the CAN Bus. More...

unsigned int	getCANReaderSpeed ()

unsigned int	getCurrentConnectTry () const
	If performing several tries in initialize(), this is the current try loop number. More...

void	doProcessSimple (bool &outThereIsObservation, mrpt::obs::CObservationCANBusJ1939 &outObservation, bool &hardwareError)
	Specific laser scanner "software drivers" must process here new data from the I/O stream, and, if a whole scan has arrived, return it. More...

void	initialize () override
	Set-up communication with the laser. More...

void	doProcess () override
	This method will be invoked at a minimum rate of "process_rate" (Hz) More...

virtual const mrpt::hwdrivers::TSensorClassId *	GetRuntimeClass () const =0

TSensorState	getState () const
	The current state of the sensor. More...

double	getProcessRate () const

std::string	getSensorLabel () const

void	setSensorLabel (const std::string &sensorLabel)

void	enableVerbose (bool enabled=true)
	Enable or disable extra debug info dumped to std::cout during sensor operation. More...

bool	isVerboseEnabled () const

void	loadConfig (const mrpt::config::CConfigFileBase &configSource, const std::string &section)
	Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific". More...

void	getObservations (TListObservations &lstObjects)
	Returns a list of enqueued objects, emptying it (thread-safe). More...

virtual void	setPathForExternalImages ([[maybe_unused]] const std::string &directory)
	Set the path where to save off-rawlog image files (will be ignored in those sensors where this is not applicable). More...

void	setExternalImageFormat (const std::string &ext)
	Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg". More...

void	setExternalImageJPEGQuality (const unsigned int quality)
	The quality of JPEG compression, when external images is enabled and the format is "jpg". More...

unsigned int	getExternalImageJPEGQuality () const

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...

static void	registerClass (const TSensorClassId *pNewClass)
	Register a class into the internal list of "CGenericSensor" descendents. More...

static CGenericSensor *	createSensor (const std::string &className)
	Creates a sensor by a name of the class. More...

static Ptr	createSensorPtr (const std::string &className)
	Just like createSensor, but returning a smart pointer to the newly created sensor object. More...

Protected Member Functions
void	loadConfig_sensorSpecific (const mrpt::config::CConfigFileBase &configSource, const std::string &iniSection) override
	See the class documentation at the top for expected parameters. More...

void	appendObservations (const std::vector< mrpt::serialization::CSerializable::Ptr > &obj)
	This method must be called by derived classes to enqueue a new observation in the list to be returned by getObservations. More...

void	appendObservation (const mrpt::serialization::CSerializable::Ptr &obj)
	Like appendObservations() but for just one observation. More...

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

size_t	m_grab_decimation_counter {0}
	Used when "m_grab_decimation" is enabled. More...

TSensorState	m_state {ssInitializing}

bool	m_verbose {false}

std::string	m_path_for_external_images
	The path where to save off-rawlog images: empty means save images embedded in the rawlog. More...

std::string	m_external_images_format
	The extension ("jpg","gif","png",...) that determines the format of images saved externally. More...

unsigned int	m_external_images_jpeg_quality {95}
	For JPEG images, the quality (default=95%). More...

Common settings to any sensor, loaded in "loadConfig"
double	m_process_rate {0}
	See CGenericSensor. More...

size_t	m_max_queue_len {200}
	See CGenericSensor. More...

size_t	m_grab_decimation {0}
	If set to N>=2, only 1 out of N observations will be saved to m_objList. More...

std::string	m_sensorLabel
	See CGenericSensor. More...

Private Member Functions
bool	tryToOpenComms (std::string *err_msg=nullptr)
	Tries to open the com port and setup all the LMS protocol. More...

bool	waitContinuousSampleFrame (uint8_t &out_prio, uint8_t &out_pdu_format, uint8_t &out_pdu_spec, uint8_t &out_src_address, uint8_t &out_data_length, uint16_t &out_pgn, std::vector< uint8_t > &out_data, std::vector< char > &out_raw_frame)

bool	sendCANBusReaderSpeed ()
	Sends the specified speed to the CAN Converter. More...

bool	CANBusOpenChannel ()
	Opens the CAN Channel. More...

bool	CANBusCloseChannel ()
	Closes the CAN Channel. More...

bool	CANBusAutoPoll ()

bool	CANBusPoll ()

bool	CANBusX1 ()

bool	setupSerialComms ()

bool	queryVersion (bool printOutVersion=false)

bool	waitACK (uint16_t timeout_ms)

bool	waitForVersion (uint16_t timeout, bool printOutVersion=false)

bool	waitIncomingFrame (uint16_t timeout)

bool	sendCommandToCANReader (const uint8_t *cmd, const uint16_t cmd_len, bool wait=true)

Private Attributes
uint8_t	m_received_frame_buffer [2000]

std::string	m_com_port
	If set to non-empty, the serial port will be attempted to be opened automatically when this class is first used to request data from the laser. More...

mrpt::comms::CSerialPort *	m_mySerialPort {nullptr}
	Will be !=nullptr only if I created it, so I must destroy it at the end. More...

int	m_com_baudRate {57600}
	Baudrate: 9600, 38400, 500000. More...

unsigned int	m_nTries_connect {1}
	Default = 1. More...

unsigned int	m_nTries_current {0}

int	m_canbus_speed {250000}

bool	m_canreader_timestamp {false}

bool	m_CANBusChannel_isOpen

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...

Member Typedef Documentation

◆ Ptr

using mrpt::hwdrivers::CGenericSensor::Ptr = std::shared_ptr<CGenericSensor>

inherited

Definition at line 73 of file CGenericSensor.h.

◆ TListObservations

using mrpt::hwdrivers::CGenericSensor::TListObservations = std::multimap< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr>

inherited

Definition at line 77 of file CGenericSensor.h.

◆ TListObsPair

using mrpt::hwdrivers::CGenericSensor::TListObsPair = std::pair< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr>

inherited

Definition at line 79 of file CGenericSensor.h.

Member Enumeration Documentation

◆ TSensorState

enum mrpt::hwdrivers::CGenericSensor::TSensorState

inherited

The current state of the sensor.

See also: CGenericSensor::getState

Enumerator
ssInitializing
ssWorking
ssError
ssUninitialized

Definition at line 84 of file CGenericSensor.h.

Constructor & Destructor Documentation

◆ CCANBusReader()

CCANBusReader::CCANBusReader ( )

Constructor.

Definition at line 54 of file CCANBusReader.cpp.

References m_received_frame_buffer, and mrpt::hwdrivers::CGenericSensor::m_sensorLabel.

◆ ~CCANBusReader()

CCANBusReader::~CCANBusReader ( )

override

Destructor.

Definition at line 65 of file CCANBusReader.cpp.

References CANBusCloseChannel(), m_CANBusChannel_isOpen, and m_mySerialPort.

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Member Function Documentation

◆ appendObservation()

void mrpt::hwdrivers::CGenericSensor::appendObservation ( const mrpt::serialization::CSerializable::Ptr & obj )

inlineprotectedinherited

Like appendObservations() but for just one observation.

Definition at line 180 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::appendObservations().

Referenced by mrpt::hwdrivers::CIMUXSens_MT4::doProcess(), mrpt::hwdrivers::CIMUXSens::doProcess(), mrpt::hwdrivers::CGyroKVHDSP3000::doProcess(), mrpt::hwdrivers::CSkeletonTracker::doProcess(), mrpt::hwdrivers::CSwissRanger3DCamera::doProcess(), mrpt::hwdrivers::C2DRangeFinderAbstract::doProcess(), doProcess(), mrpt::hwdrivers::CVelodyneScanner::doProcess(), and mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow().

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◆ appendObservations()

void CGenericSensor::appendObservations ( const std::vector< mrpt::serialization::CSerializable::Ptr > & obj )

protectedinherited

This method must be called by derived classes to enqueue a new observation in the list to be returned by getObservations.

Passed objects must be created in dynamic memory and a smart pointer passed. Example of creation:

  mrpt::obs::CObservationGPS::Ptr  o = CObservationGPS::Ptr( new
CObservationGPS() );
  o-> .... // Set data
  appendObservation(o);

If several observations are passed at once in the vector, they'll be considered as a block regarding the grabbing decimation factor.

Definition at line 48 of file CGenericSensor.cpp.

References CLASS_ID, mrpt::hwdrivers::CGenericSensor::m_csObjList, mrpt::hwdrivers::CGenericSensor::m_grab_decimation, mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter, mrpt::hwdrivers::CGenericSensor::m_objList, and THROW_EXCEPTION.

Referenced by mrpt::hwdrivers::CGenericSensor::appendObservation(), mrpt::hwdrivers::CNationalInstrumentsDAQ::doProcess(), and mrpt::hwdrivers::CKinect::doProcess().

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◆ CANBusAutoPoll()

bool CCANBusReader::CANBusAutoPoll ( )

private

Definition at line 341 of file CCANBusReader.cpp.

References sendCommandToCANReader(), and waitACK().

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◆ CANBusCloseChannel()

bool CCANBusReader::CANBusCloseChannel ( )

private

Closes the CAN Channel.

Definition at line 330 of file CCANBusReader.cpp.

References m_CANBusChannel_isOpen, and sendCommandToCANReader().

Referenced by setupSerialComms(), and ~CCANBusReader().

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◆ CANBusOpenChannel()

bool CCANBusReader::CANBusOpenChannel ( )

private

Opens the CAN Channel.

Definition at line 321 of file CCANBusReader.cpp.

References m_CANBusChannel_isOpen, sendCommandToCANReader(), and waitACK().

Referenced by tryToOpenComms().

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◆ CANBusPoll()

bool CCANBusReader::CANBusPoll ( )

private

Definition at line 358 of file CCANBusReader.cpp.

References sendCommandToCANReader(), and waitACK().

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◆ CANBusX1()

bool CCANBusReader::CANBusX1 ( )

private

Definition at line 349 of file CCANBusReader.cpp.

References sendCommandToCANReader(), and waitACK().

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◆ createSensor()

CGenericSensor * CGenericSensor::createSensor ( const std::string & className )

staticinherited

Creates a sensor by a name of the class.

Typically the user may want to create a smart pointer around the returned pointer, whis is made with:

CGenericSensor::Ptr sensor = CGenericSensor::Ptr(

CGenericSensor::createSensor("XXX") );

Returns: A pointer to a new class, or nullptr if class name is unknown.

Definition at line 97 of file CGenericSensor.cpp.

References mrpt::hwdrivers::CGenericSensor::get_registered_sensor_classes().

Referenced by mrpt::hwdrivers::CGenericSensor::createSensorPtr().

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◆ createSensorPtr()

static Ptr mrpt::hwdrivers::CGenericSensor::createSensorPtr ( const std::string & className )

inlinestaticinherited

Just like createSensor, but returning a smart pointer to the newly created sensor object.

Definition at line 210 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::createSensor().

Referenced by mrpt::apps::RawlogGrabberApp::SensorThread().

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◆ doProcess()

void CCANBusReader::doProcess ( )

overridevirtual

This method will be invoked at a minimum rate of "process_rate" (Hz)

Exceptions

This	method must throw an exception with a descriptive message if some critical error is found.

Implements mrpt::hwdrivers::CGenericSensor.

Definition at line 85 of file CCANBusReader.cpp.

References mrpt::hwdrivers::CGenericSensor::appendObservation(), mrpt::obs::CObservationCANBusJ1939::Create(), and doProcessSimple().

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◆ doProcessSimple()

void CCANBusReader::doProcessSimple	(	bool &	outThereIsObservation,
		mrpt::obs::CObservationCANBusJ1939 &	outObservation,
		bool &	hardwareError
	)

Specific laser scanner "software drivers" must process here new data from the I/O stream, and, if a whole scan has arrived, return it.

This method will be typically called in a different thread than other methods, and will be called in a timely fashion.

Definition at line 102 of file CCANBusReader.cpp.

Referenced by doProcess().

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◆ 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.

◆ enableVerbose()

void mrpt::hwdrivers::CGenericSensor::enableVerbose ( bool enabled = true )

inlineinherited

Enable or disable extra debug info dumped to std::cout during sensor operation.

Default: disabled unless the environment variable "MRPT_HWDRIVERS_VERBOSE" is set to "1" during object creation.

Definition at line 106 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_verbose.

◆ getBaudRate()

int mrpt::hwdrivers::CCANBusReader::getBaudRate ( ) const

inline

See also: setBaudRate

Definition at line 133 of file CCANBusReader.h.

References m_com_baudRate.

◆ getCANReaderSpeed()

unsigned int mrpt::hwdrivers::CCANBusReader::getCANReaderSpeed ( )

inline

Definition at line 147 of file CCANBusReader.h.

References m_canbus_speed.

◆ getCANReaderTimeStamping()

bool mrpt::hwdrivers::CCANBusReader::getCANReaderTimeStamping ( )

inline

Definition at line 143 of file CCANBusReader.h.

References m_canreader_timestamp.

◆ getCurrentConnectTry()

unsigned int mrpt::hwdrivers::CCANBusReader::getCurrentConnectTry ( ) const

inline

If performing several tries in initialize(), this is the current try loop number.

Definition at line 150 of file CCANBusReader.h.

References m_nTries_current.

◆ getExternalImageJPEGQuality()

unsigned int mrpt::hwdrivers::CGenericSensor::getExternalImageJPEGQuality ( ) const

inlineinherited

Definition at line 279 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality.

◆ 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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◆ getObservations()

void CGenericSensor::getObservations ( TListObservations & lstObjects )

inherited

Returns a list of enqueued objects, emptying it (thread-safe).

The objects must be freed by the invoker.

Definition at line 85 of file CGenericSensor.cpp.

References mrpt::hwdrivers::CGenericSensor::m_csObjList, and mrpt::hwdrivers::CGenericSensor::m_objList.

Referenced by TEST().

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◆ getProcessRate()

double mrpt::hwdrivers::CGenericSensor::getProcessRate ( ) const

inlineinherited

Definition at line 94 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_process_rate.

◆ GetRuntimeClass()

virtual const mrpt::hwdrivers::TSensorClassId* mrpt::hwdrivers::CGenericSensor::GetRuntimeClass ( ) const

pure virtualinherited

◆ getSensorLabel()

std::string mrpt::hwdrivers::CGenericSensor::getSensorLabel ( ) const

inlineinherited

Definition at line 95 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_sensorLabel.

◆ getSerialPort()

std::string mrpt::hwdrivers::CCANBusReader::getSerialPort ( ) const

inline

See also: setSerialPort

Definition at line 126 of file CCANBusReader.h.

References m_com_port.

◆ getState()

TSensorState mrpt::hwdrivers::CGenericSensor::getState ( ) const

inlineinherited

The current state of the sensor.

Definition at line 93 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_state.

◆ initialize()

void CCANBusReader::initialize ( )

overridevirtual

Set-up communication with the laser.

Called automatically by rawlog-grabber. If used manually, call after "loadConfig" and before "doProcess".

In this class this method does nothing, since the communications are setup at the first try from "doProcess" or "doProcessSimple".

Reimplemented from mrpt::hwdrivers::CGenericSensor.

Definition at line 473 of file CCANBusReader.cpp.

References m_received_frame_buffer, and tryToOpenComms().

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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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◆ isVerboseEnabled()

bool mrpt::hwdrivers::CGenericSensor::isVerboseEnabled ( ) const

inlineinherited

Definition at line 107 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_verbose.

◆ loadConfig()

void CGenericSensor::loadConfig	(	const mrpt::config::CConfigFileBase &	cfg,
		const std::string &	sect
	)

inherited

Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific".

Exceptions

This	method throws an exception with a descriptive message if some critical parameter is missing or has an invalid value.

Definition at line 126 of file CGenericSensor.cpp.

References mrpt::hwdrivers::CGenericSensor::loadConfig_sensorSpecific(), mrpt::hwdrivers::CGenericSensor::m_grab_decimation, mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter, mrpt::hwdrivers::CGenericSensor::m_max_queue_len, mrpt::hwdrivers::CGenericSensor::m_process_rate, mrpt::hwdrivers::CGenericSensor::m_sensorLabel, MRPT_END, MRPT_START, mrpt::config::CConfigFileBase::read_double(), mrpt::config::CConfigFileBase::read_int(), mrpt::config::CConfigFileBase::read_string(), and sect.

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◆ loadConfig_sensorSpecific()

void CCANBusReader::loadConfig_sensorSpecific	(	const mrpt::config::CConfigFileBase &	configSource,
		const std::string &	iniSection
	)

overrideprotectedvirtual

See the class documentation at the top for expected parameters.

Implements mrpt::hwdrivers::CGenericSensor.

Definition at line 157 of file CCANBusReader.cpp.

References m_canbus_speed, m_canreader_timestamp, m_com_baudRate, m_com_port, m_nTries_connect, mrpt::config::CConfigFileBase::read_bool(), mrpt::config::CConfigFileBase::read_int(), and mrpt::config::CConfigFileBase::read_string().

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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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◆ queryVersion()

bool CCANBusReader::queryVersion ( bool printOutVersion = false )

private

Definition at line 566 of file CCANBusReader.cpp.

References ASSERT_, m_mySerialPort, sendCommandToCANReader(), and waitForVersion().

Referenced by setupSerialComms().

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◆ registerClass()

void CGenericSensor::registerClass ( const TSensorClassId * pNewClass )

staticinherited

Register a class into the internal list of "CGenericSensor" descendents.

Used internally in the macros DEFINE_GENERIC_SENSOR, etc...

Can be used as "CGenericSensor::registerClass( SENSOR_CLASS_ID(CMySensor) );" if building custom sensors outside mrpt libraries in user code.

Definition at line 115 of file CGenericSensor.cpp.

References mrpt::hwdrivers::TSensorClassId::className, and mrpt::hwdrivers::CGenericSensor::get_registered_sensor_classes().

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◆ sendCANBusReaderSpeed()

bool CCANBusReader::sendCANBusReaderSpeed ( )

private

Sends the specified speed to the CAN Converter.

Definition at line 278 of file CCANBusReader.cpp.

References m_canbus_speed, RET_ERROR, sendCommandToCANReader(), and waitACK().

Referenced by tryToOpenComms().

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◆ sendCommandToCANReader()

bool CCANBusReader::sendCommandToCANReader	(	const uint8_t *	cmd,
		const uint16_t	cmd_len,
		bool	wait = `true`
	)

private

Definition at line 709 of file CCANBusReader.cpp.

References ASSERT_, m_mySerialPort, mrpt::system::os::memcpy(), and mrpt::comms::CSerialPort::Write().

Referenced by CANBusAutoPoll(), CANBusCloseChannel(), CANBusOpenChannel(), CANBusPoll(), CANBusX1(), queryVersion(), and sendCANBusReaderSpeed().

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◆ setBaudRate()

void mrpt::hwdrivers::CCANBusReader::setBaudRate ( int baud )

inline

Changes the serial port baud rate (call prior to 'doProcess'); valid values are 9600,38400 and 500000.

This is not needed if the configuration is loaded with "loadConfig".

See also: getBaudRate

Definition at line 131 of file CCANBusReader.h.

References m_com_baudRate.

Referenced by setupSerialComms().

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◆ setCANReaderSpeed()

void mrpt::hwdrivers::CCANBusReader::setCANReaderSpeed ( const unsigned int speed )

inline

Sets the CAN reader speed when connecting to the CAN Bus.

Definition at line 146 of file CCANBusReader.h.

References m_canbus_speed.

◆ setCANReaderTimeStamping()

void mrpt::hwdrivers::CCANBusReader::setCANReaderTimeStamping ( bool setTimestamp = false )

inline

Enables/Disables the addition of a timestamp according to the arrival time to the converter (default=false) (call prior to 'doProcess') This is not needed if the configuration is loaded with "loadConfig".

Definition at line 139 of file CCANBusReader.h.

References m_canreader_timestamp.

◆ setExternalImageFormat()

void mrpt::hwdrivers::CGenericSensor::setExternalImageFormat ( const std::string & ext )

inlineinherited

Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg".

See also: setPathForExternalImages, setExternalImageJPEGQuality

Definition at line 268 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_external_images_format.

◆ setExternalImageJPEGQuality()

void mrpt::hwdrivers::CGenericSensor::setExternalImageJPEGQuality ( const unsigned int quality )

inlineinherited

The quality of JPEG compression, when external images is enabled and the format is "jpg".

See also: setExternalImageFormat

Definition at line 275 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality.

◆ 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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◆ setPathForExternalImages()

virtual void mrpt::hwdrivers::CGenericSensor::setPathForExternalImages ( [ [maybe_unused] ] const std::string & directory )

inlinevirtualinherited

Set the path where to save off-rawlog image files (will be ignored in those sensors where this is not applicable).

An empty string (the default value at construction) means to save images embedded in the rawlog, instead of on separate files.

Exceptions

std::exception If the directory doesn't exists and cannot be created.

Definition at line 257 of file CGenericSensor.h.

◆ setSensorLabel()

void mrpt::hwdrivers::CGenericSensor::setSensorLabel ( const std::string & sensorLabel )

inlineinherited

Definition at line 96 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_sensorLabel.

◆ setSerialPort()

void mrpt::hwdrivers::CCANBusReader::setSerialPort ( const std::string & port )

inline

Changes the serial port to connect to (call prior to 'doProcess'), for example "COM1" or "ttyS0".

This is not needed if the configuration is loaded with "loadConfig".

Definition at line 124 of file CCANBusReader.h.

References m_com_port.

◆ setupSerialComms()

bool CCANBusReader::setupSerialComms ( )

private

Definition at line 488 of file CCANBusReader.cpp.

References ASSERT_, CANBusCloseChannel(), m_com_baudRate, m_mySerialPort, m_nTries_connect, m_nTries_current, mrpt::comms::CSerialPort::purgeBuffers(), queryVersion(), setBaudRate(), and mrpt::comms::CSerialPort::setConfig().

Referenced by tryToOpenComms().

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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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◆ tryToOpenComms()

bool CCANBusReader::tryToOpenComms ( std::string * err_msg = nullptr )

private

Tries to open the com port and setup all the LMS protocol.

Returns true if OK or already open.

Definition at line 184 of file CCANBusReader.cpp.

References CANBusOpenChannel(), mrpt::comms::CSerialPort::isOpen(), m_canbus_speed, m_com_port, m_mySerialPort, MRPT_LOG_ERROR_STREAM, mrpt::comms::CSerialPort::open(), RET_ERROR, sendCANBusReaderSpeed(), mrpt::comms::CSerialPort::setConfig(), mrpt::comms::CSerialPort::setSerialPortName(), mrpt::comms::CSerialPort::setTimeouts(), and setupSerialComms().

Referenced by doProcessSimple(), and initialize().

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◆ waitACK()

bool CCANBusReader::waitACK ( uint16_t timeout_ms )

private

Definition at line 579 of file CCANBusReader.cpp.

References mrpt::format(), m_mySerialPort, mrpt::comms::CSerialPort::Read(), RET_ERROR, mrpt::system::CTicTac::Tac(), and mrpt::system::CTicTac::Tic().

Referenced by CANBusAutoPoll(), CANBusOpenChannel(), CANBusPoll(), CANBusX1(), and sendCANBusReaderSpeed().

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◆ waitContinuousSampleFrame()

bool CCANBusReader::waitContinuousSampleFrame	(	uint8_t &	out_prio,
		uint8_t &	out_pdu_format,
		uint8_t &	out_pdu_spec,
		uint8_t &	out_src_address,
		uint8_t &	out_data_length,
		uint16_t &	out_pgn,
		std::vector< uint8_t > &	out_data,
		std::vector< char > &	out_raw_frame
	)

private

Definition at line 369 of file CCANBusReader.cpp.

References mrpt::format(), hexCharToInt(), m_mySerialPort, MRPT_LOG_ERROR_STREAM, and mrpt::comms::CSerialPort::Read().

Referenced by doProcessSimple().

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◆ waitForVersion()

bool CCANBusReader::waitForVersion	(	uint16_t	timeout,
		bool	printOutVersion = `false`
	)

private

Definition at line 606 of file CCANBusReader.cpp.

References m_mySerialPort, m_received_frame_buffer, mrpt::comms::CSerialPort::Read(), mrpt::system::CTicTac::Tac(), and mrpt::system::CTicTac::Tic().

Referenced by queryVersion().

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◆ waitIncomingFrame()

bool CCANBusReader::waitIncomingFrame ( uint16_t timeout )

private

Definition at line 657 of file CCANBusReader.cpp.

References hexCharToInt(), m_mySerialPort, m_received_frame_buffer, mrpt::comms::CSerialPort::Read(), mrpt::system::CTicTac::Tac(), and mrpt::system::CTicTac::Tic().

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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

◆ 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_canbus_speed

int mrpt::hwdrivers::CCANBusReader::m_canbus_speed {250000}

private

Definition at line 102 of file CCANBusReader.h.

Referenced by getCANReaderSpeed(), loadConfig_sensorSpecific(), sendCANBusReaderSpeed(), setCANReaderSpeed(), and tryToOpenComms().

◆ m_CANBusChannel_isOpen

bool mrpt::hwdrivers::CCANBusReader::m_CANBusChannel_isOpen

private

Initial value:

{

false}

Definition at line 104 of file CCANBusReader.h.

Referenced by CANBusCloseChannel(), CANBusOpenChannel(), and ~CCANBusReader().

◆ m_canreader_timestamp

bool mrpt::hwdrivers::CCANBusReader::m_canreader_timestamp {false}

private

Definition at line 103 of file CCANBusReader.h.

Referenced by getCANReaderTimeStamping(), loadConfig_sensorSpecific(), and setCANReaderTimeStamping().

◆ m_com_baudRate

int mrpt::hwdrivers::CCANBusReader::m_com_baudRate {57600}

private

Baudrate: 9600, 38400, 500000.

Definition at line 98 of file CCANBusReader.h.

Referenced by getBaudRate(), loadConfig_sensorSpecific(), setBaudRate(), and setupSerialComms().

◆ m_com_port

std::string mrpt::hwdrivers::CCANBusReader::m_com_port

private

If set to non-empty, the serial port will be attempted to be opened automatically when this class is first used to request data from the laser.

Definition at line 93 of file CCANBusReader.h.

Referenced by getSerialPort(), loadConfig_sensorSpecific(), setSerialPort(), and tryToOpenComms().

◆ m_external_images_format

std::string mrpt::hwdrivers::CGenericSensor::m_external_images_format

protectedinherited

The extension ("jpg","gif","png",...) that determines the format of images saved externally.

See also: setPathForExternalImages

Definition at line 158 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific(), and mrpt::hwdrivers::CGenericSensor::setExternalImageFormat().

◆ m_external_images_jpeg_quality

unsigned int mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality {95}

protectedinherited

For JPEG images, the quality (default=95%).

Definition at line 160 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::getExternalImageJPEGQuality(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific(), and mrpt::hwdrivers::CGenericSensor::setExternalImageJPEGQuality().

◆ m_grab_decimation

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation {0}

protectedinherited

If set to N>=2, only 1 out of N observations will be saved to m_objList.

Definition at line 139 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::appendObservations(), and mrpt::hwdrivers::CGenericSensor::loadConfig().

◆ m_grab_decimation_counter

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter {0}

protectedinherited

Used when "m_grab_decimation" is enabled.

Definition at line 146 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::appendObservations(), and mrpt::hwdrivers::CGenericSensor::loadConfig().

◆ m_max_queue_len

size_t mrpt::hwdrivers::CGenericSensor::m_max_queue_len {200}

protectedinherited

See CGenericSensor.

Definition at line 136 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::loadConfig().

◆ 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_mySerialPort

mrpt::comms::CSerialPort* mrpt::hwdrivers::CCANBusReader::m_mySerialPort {nullptr}

private

Will be !=nullptr only if I created it, so I must destroy it at the end.

Definition at line 96 of file CCANBusReader.h.

Referenced by queryVersion(), sendCommandToCANReader(), setupSerialComms(), tryToOpenComms(), waitACK(), waitContinuousSampleFrame(), waitForVersion(), waitIncomingFrame(), and ~CCANBusReader().

◆ m_nTries_connect

unsigned int mrpt::hwdrivers::CCANBusReader::m_nTries_connect {1}

private

Default = 1.

Definition at line 100 of file CCANBusReader.h.

Referenced by loadConfig_sensorSpecific(), and setupSerialComms().

◆ m_nTries_current

unsigned int mrpt::hwdrivers::CCANBusReader::m_nTries_current {0}

private

Definition at line 101 of file CCANBusReader.h.

Referenced by getCurrentConnectTry(), and setupSerialComms().

◆ m_path_for_external_images

std::string mrpt::hwdrivers::CGenericSensor::m_path_for_external_images

protectedinherited

The path where to save off-rawlog images: empty means save images embedded in the rawlog.

Definition at line 155 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), and mrpt::hwdrivers::CSwissRanger3DCamera::setPathForExternalImages().

◆ m_process_rate

double mrpt::hwdrivers::CGenericSensor::m_process_rate {0}

protectedinherited

See CGenericSensor.

Definition at line 134 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::getProcessRate(), mrpt::hwdrivers::CGyroKVHDSP3000::initialize(), and mrpt::hwdrivers::CGenericSensor::loadConfig().

◆ m_received_frame_buffer

uint8_t mrpt::hwdrivers::CCANBusReader::m_received_frame_buffer[2000]

private

Definition at line 88 of file CCANBusReader.h.

Referenced by CCANBusReader(), initialize(), waitForVersion(), and waitIncomingFrame().

◆ m_sensorLabel

std::string mrpt::hwdrivers::CGenericSensor::m_sensorLabel

protectedinherited

See CGenericSensor.

Definition at line 141 of file CGenericSensor.h.

◆ m_state

TSensorState mrpt::hwdrivers::CGenericSensor::m_state {ssInitializing}

protectedinherited

Definition at line 148 of file CGenericSensor.h.

◆ m_verbose

bool mrpt::hwdrivers::CGenericSensor::m_verbose {false}

protectedinherited

Definition at line 149 of file CGenericSensor.h.

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Logging methods

Member Typedef Documentation

◆ Ptr

◆ TListObservations

◆ TListObsPair

Member Enumeration Documentation

◆ TSensorState

Constructor & Destructor Documentation

◆ CCANBusReader()

◆ ~CCANBusReader()

Member Function Documentation

◆ appendObservation()

◆ appendObservations()

◆ CANBusAutoPoll()

◆ CANBusCloseChannel()

◆ CANBusOpenChannel()

◆ CANBusPoll()

◆ CANBusX1()

◆ createSensor()

◆ createSensorPtr()

◆ doProcess()

◆ doProcessSimple()

◆ dumpLogToConsole()

◆ enableVerbose()

◆ getBaudRate()

◆ getCANReaderSpeed()

◆ getCANReaderTimeStamping()

◆ getCurrentConnectTry()

◆ getExternalImageJPEGQuality()

◆ getLogAsString() [1/2]

◆ getLogAsString() [2/2]

◆ getLoggerLastMsg() [1/2]

◆ getLoggerLastMsg() [2/2]

◆ getLoggerName()

◆ getMinLoggingLevel()

◆ getObservations()

◆ getProcessRate()

◆ GetRuntimeClass()

◆ getSensorLabel()

◆ getSerialPort()

◆ getState()

◆ initialize()

◆ isLoggingLevelVisible()

◆ isVerboseEnabled()

◆ loadConfig()

◆ loadConfig_sensorSpecific()

◆ logCond()

◆ logDeregisterCallback()

◆ logFmt()

◆ loggerReset()

◆ logging_levels_to_colors()

◆ logging_levels_to_names()

◆ logRegisterCallback()

◆ logStr()

◆ queryVersion()

◆ registerClass()

◆ sendCANBusReaderSpeed()

◆ sendCommandToCANReader()

◆ setBaudRate()

◆ setCANReaderSpeed()

◆ setCANReaderTimeStamping()

◆ setExternalImageFormat()

◆ setExternalImageJPEGQuality()

◆ setLoggerName()

◆ setMinLoggingLevel()

◆ setPathForExternalImages()

◆ setSensorLabel()

◆ setSerialPort()

◆ setupSerialComms()

◆ setVerbosityLevel()

◆ tryToOpenComms()

◆ waitACK()