Detailed Description

A class for interfacing an e-NoseModular via a FTDI USB link.

Implemented for the Mdular board v1.0 designed by 2013 @ MAPIR (University of Malaga).

 PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
-------------------------------------------------------
  [supplied_section_name]
   USB_serialname=ENOSE001   // USB FTDI pipe: will open only if COM_port_*
are not set or empty
   COM_port_WIN = COM1       // Serial port to connect to.
   COM_port_LIN = ttyS0
   COM_baudRate = 115200
   ; 3D position (in meters) of the master +slave eNoses
   enose_poses_x=<MASTER X> <SLAVE#1 X> <SLAVE#2 X> <SLAVE#3 X>...
   enose_poses_y=<MASTER Y> <SLAVE#1 Y> <SLAVE#2 Y> <SLAVE#3 Y>...
   enose_poses_z=<MASTER Z> <SLAVE#1 Z> <SLAVE#2 Z> <SLAVE#3 Z>...
   ; 3D pose angles (in degrees) of the master +slave eNoses
   enose_poses_yaw=<MASTER YAW> <SLAVE#1 YAW> <SLAVE#2 YAW> <SLAVE#3 YAW>...
   enose_poses_pitch=<MASTER PITCH> <SLAVE#1 PITCH> <SLAVE#2 PITCH> <SLAVE#3
PITCH>...
   enose_poses_roll=<MASTER ROLL> <SLAVE#1 ROLL> <SLAVE#2 ROLL> <SLAVE#3
ROLL>...

Definition at line 53 of file CEnoseModular.h.

#include <mrpt/hwdrivers/CEnoseModular.h>

Inheritance diagram for mrpt::hwdrivers::CEnoseModular:

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
	CEnoseModular ()
	Constructor. More...

bool	getObservation (mrpt::obs::CObservationGasSensors &outObservation)
	Request the master eNose the latest readings from all the eNoses. More...

void	doProcess () override
	This method should be called periodically (at least at 1Hz to capture ALL the real-time data) It is thread safe, i.e. More...

void	setSerialPort (const std::string &port)
	If not an empty string, will open that serial port, otherwise will try to open USB FTDI device "m_usbSerialNumber" The default is an empty string. More...

std::string	getSerialPort () const

void	setSerialPortBaud (unsigned int baud)
	Set the serial port baud rate (default: 115200) More...

unsigned int	getSerialPortBaud () const

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...

virtual void	initialize ()
	This method can or cannot be implemented in the derived class, depending on the need for it. 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 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
mrpt::io::CStream *	checkConnectionAndConnect ()
	Tries to connect to the USB device (if disconnected). More...

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

void	purgeBuffers ()
	Purge the Serial/FTDI buffer. 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
std::string	m_usbSerialNumber
	A copy of the device serial number (to open the USB FTDI chip) More...

mrpt::system::TTimeStamp	initial_timestamp

bool	first_reading

std::string	m_COM_port
	If not an empty string (default), will open that serial port, otherwise will try to open USB FTDI device "m_usbSerialNumber". More...

unsigned int	m_COM_baud {115200}
	Default=115200. More...

std::unique_ptr< mrpt::comms::CInterfaceFTDI >	m_stream_FTDI
	FTDI comms pipe (when not in serial port mode) More...

std::unique_ptr< mrpt::comms::CSerialPort >	m_stream_SERIAL
	Serial port comms. More...

std::vector< float >	enose_poses_x
	The 3D pose of the master + N slave eNoses on the robot (meters & radians) More...

std::vector< float >	enose_poses_y

std::vector< float >	enose_poses_z

std::vector< float >	enose_poses_yaw

std::vector< float >	enose_poses_pitch

std::vector< float >	enose_poses_roll

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...

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

◆ CEnoseModular()

CEnoseModular::CEnoseModular ( )

Constructor.

Parameters

serialNumberUSBdevice The serial number (text) of the device to open. The constructor will try to open the device. You can check if it failed calling "isOpen()".

Definition at line 32 of file CEnoseModular.cpp.

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(), mrpt::hwdrivers::CCANBusReader::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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◆ checkConnectionAndConnect()

CStream * CEnoseModular::checkConnectionAndConnect ( )

protected

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

Returns: nullptr on error, otherwise a stream to be used for comms.

Definition at line 65 of file CEnoseModular.cpp.

References ASSERT_.

◆ 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 CEnoseModular::doProcess ( )

overridevirtual

This method should be called periodically (at least at 1Hz to capture ALL the real-time data) It is thread safe, i.e.

you can call this from one thread, then to other methods from other threads.

Implements mrpt::hwdrivers::CGenericSensor.

Definition at line 252 of file CEnoseModular.cpp.

References mrpt::obs::utils::getObservation().

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◆ 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.

◆ 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.

◆ getObservation()

bool CEnoseModular::getObservation ( mrpt::obs::CObservationGasSensors & outObservation )

Request the master eNose the latest readings from all the eNoses.

The output observation contains a valid timestamp and 3D positions if "loadConfig" has been called previously.

Returns: true if OK, false if there were any error.

Definition at line 121 of file CEnoseModular.cpp.

References mrpt::serialization::archiveFrom(), ASSERT_, mrpt::serialization::CMessage::content, mrpt::obs::CObservationGasSensors::TObservationENose::eNosePoseOnTheRobot, mrpt::system::getCurrentTime(), mrpt::obs::CObservationGasSensors::TObservationENose::hasTemperature, mrpt::obs::CObservationGasSensors::TObservationENose::isActive, mrpt::obs::CObservationGasSensors::m_readings, mrpt::system::os::memcpy(), mrpt::system::now(), mrpt::obs::CObservationGasSensors::TObservationENose::readingsVoltage, mrpt::obs::CObservation::sensorLabel, mrpt::obs::CObservationGasSensors::TObservationENose::sensorTypes, mrpt::obs::CObservationGasSensors::TObservationENose::temperature, mrpt::system::timeDifference(), and mrpt::obs::CObservation::timestamp.

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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::CEnoseModular::getSerialPort ( ) const

inline

Definition at line 119 of file CEnoseModular.h.

References m_COM_port.

◆ getSerialPortBaud()

unsigned int mrpt::hwdrivers::CEnoseModular::getSerialPortBaud ( ) const

inline

Definition at line 122 of file CEnoseModular.h.

References m_COM_baud.

◆ 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()

virtual void mrpt::hwdrivers::CGenericSensor::initialize ( )

inlinevirtualinherited

This method can or cannot be implemented in the derived class, depending on the need for it.

Exceptions

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

Definition at line 238 of file CGenericSensor.h.

Referenced by TEST().

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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 CEnoseModular::loadConfig_sensorSpecific	(	const mrpt::config::CConfigFileBase &	configSource,
		const std::string &	section
	)

overrideprotectedvirtual

See the class documentation at the top for expected parameters.

Implements mrpt::hwdrivers::CGenericSensor.

Definition at line 41 of file CEnoseModular.cpp.

References MRPT_END, MRPT_START, mrpt::config::CConfigFileBase::read_string(), and mrpt::config::CConfigFileBase::read_uint64_t().

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◆ purgeBuffers()

void CEnoseModular::purgeBuffers ( )

protected

Purge the Serial/FTDI buffer.

Definition at line 273 of file CEnoseModular.cpp.

◆ 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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◆ 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.

◆ 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::CEnoseModular::setSerialPort ( const std::string & port )

inline

If not an empty string, will open that serial port, otherwise will try to open USB FTDI device "m_usbSerialNumber" The default is an empty string.

Example strings: "COM1", "ttyUSB0", ...

Definition at line 118 of file CEnoseModular.h.

References m_COM_port.

◆ setSerialPortBaud()

void mrpt::hwdrivers::CEnoseModular::setSerialPortBaud ( unsigned int baud )

inline

Set the serial port baud rate (default: 115200)

Definition at line 121 of file CEnoseModular.h.

References m_COM_baud.

Member Data Documentation

◆ enose_poses_pitch

std::vector<float> mrpt::hwdrivers::CEnoseModular::enose_poses_pitch

protected

Definition at line 79 of file CEnoseModular.h.

◆ enose_poses_roll

std::vector<float> mrpt::hwdrivers::CEnoseModular::enose_poses_roll

protected

Definition at line 79 of file CEnoseModular.h.

◆ enose_poses_x

std::vector<float> mrpt::hwdrivers::CEnoseModular::enose_poses_x

protected

The 3D pose of the master + N slave eNoses on the robot (meters & radians)

Definition at line 79 of file CEnoseModular.h.

◆ enose_poses_y

std::vector<float> mrpt::hwdrivers::CEnoseModular::enose_poses_y

protected

Definition at line 79 of file CEnoseModular.h.

◆ enose_poses_yaw

std::vector<float> mrpt::hwdrivers::CEnoseModular::enose_poses_yaw

protected

Definition at line 79 of file CEnoseModular.h.

◆ enose_poses_z

std::vector<float> mrpt::hwdrivers::CEnoseModular::enose_poses_z

protected

Definition at line 79 of file CEnoseModular.h.

◆ first_reading

bool mrpt::hwdrivers::CEnoseModular::first_reading

protected

Definition at line 62 of file CEnoseModular.h.

◆ initial_timestamp

mrpt::system::TTimeStamp mrpt::hwdrivers::CEnoseModular::initial_timestamp

protected

Definition at line 61 of file CEnoseModular.h.

◆ m_COM_baud

unsigned int mrpt::hwdrivers::CEnoseModular::m_COM_baud {115200}

protected

Default=115200.

Definition at line 68 of file CEnoseModular.h.

Referenced by getSerialPortBaud(), and setSerialPortBaud().

◆ m_COM_port

std::string mrpt::hwdrivers::CEnoseModular::m_COM_port

protected

If not an empty string (default), will open that serial port, otherwise will try to open USB FTDI device "m_usbSerialNumber".

Definition at line 66 of file CEnoseModular.h.

Referenced by getSerialPort(), and setSerialPort().

◆ 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_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_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_stream_FTDI

std::unique_ptr<mrpt::comms::CInterfaceFTDI> mrpt::hwdrivers::CEnoseModular::m_stream_FTDI

protected

FTDI comms pipe (when not in serial port mode)

Definition at line 73 of file CEnoseModular.h.

◆ m_stream_SERIAL

std::unique_ptr<mrpt::comms::CSerialPort> mrpt::hwdrivers::CEnoseModular::m_stream_SERIAL

protected

Serial port comms.

Definition at line 75 of file CEnoseModular.h.

◆ m_usbSerialNumber

std::string mrpt::hwdrivers::CEnoseModular::m_usbSerialNumber

protected

A copy of the device serial number (to open the USB FTDI chip)

Definition at line 60 of file CEnoseModular.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

Member Typedef Documentation

◆ Ptr

◆ TListObservations

◆ TListObsPair

Member Enumeration Documentation

◆ TSensorState

Constructor & Destructor Documentation

◆ CEnoseModular()

Member Function Documentation

◆ appendObservation()

◆ appendObservations()

◆ checkConnectionAndConnect()

◆ createSensor()

◆ createSensorPtr()

◆ doProcess()

◆ enableVerbose()

◆ getExternalImageJPEGQuality()

◆ getObservation()

◆ getObservations()

◆ getProcessRate()

◆ GetRuntimeClass()

◆ getSensorLabel()

◆ getSerialPort()

◆ getSerialPortBaud()

◆ getState()

◆ initialize()

◆ isVerboseEnabled()

◆ loadConfig()

◆ loadConfig_sensorSpecific()

◆ purgeBuffers()

◆ registerClass()

◆ setExternalImageFormat()

◆ setExternalImageJPEGQuality()

◆ setPathForExternalImages()

◆ setSensorLabel()

◆ setSerialPort()

◆ setSerialPortBaud()

Member Data Documentation

◆ enose_poses_pitch

◆ enose_poses_roll

◆ enose_poses_x

◆ enose_poses_y

◆ enose_poses_yaw

◆ enose_poses_z

◆ first_reading

◆ initial_timestamp

◆ m_COM_baud

◆ m_COM_port

◆ m_external_images_format

◆ m_external_images_jpeg_quality

◆ m_grab_decimation

◆ m_grab_decimation_counter

◆ m_max_queue_len

◆ m_path_for_external_images

◆ m_process_rate

◆ m_sensorLabel

◆ m_state

◆ m_stream_FTDI

◆ m_stream_SERIAL

◆ m_usbSerialNumber

◆ m_verbose