`mrpt.hwdrivers`

mrpt.hwdrivers: sensor drivers.

Any driver can be created by class name and configured from an .ini section, the same way rawlog-grabber does it:

import mrpt.config, mrpt.hwdrivers as hw
sensor = hw.CGenericSensor.createSensor("CGPSInterface")
sensor.loadConfig(mrpt.config.CConfigFile("sensors.ini"), "GPS")
sensor.initialize()
while True:
    sensor.doProcess()
    for timestamp, obs in sensor.getObservations():
        print(obs)

A few drivers also have setters to be configured without a config file: CTaoboticsIMU, CGPSInterface, CHokuyoURG, CRoboPeakLidar, CVelodyneScanner. CJoystick reads joysticks and gamepads.

Package Contents

class mrpt.hwdrivers.CGPSInterface

C++ API: class mrpt::hwdrivers::CGPSInterface

Bases: CGenericSensor

getSerialPortName() → str

setSerialPortName(COM_port: str) → None

setSetupCommands(cmds: list[str]) → None

setSetupCommandsDelay(delay_secs: float) → None

setShutdownCommands(cmds: list[str]) → None

class mrpt.hwdrivers.CGenericSensor

C++ API: class mrpt::hwdrivers::CGenericSensor

class TSensorState(value: int)

Members:

ssInitializing

ssWorking

ssError

ssUninitialized

property name: str

property value: int

ssError: ClassVar[CGenericSensor]

ssInitializing: ClassVar[CGenericSensor]

ssUninitialized: ClassVar[CGenericSensor]

ssWorking: ClassVar[CGenericSensor]

ssError: ClassVar[CGenericSensor]

ssInitializing: ClassVar[CGenericSensor]

ssUninitialized: ClassVar[CGenericSensor]

ssWorking: ClassVar[CGenericSensor]

static createSensor(className: str) → CGenericSensor: Creates a sensor driver by its class name (e.g. ‘CGPSInterface’), or returns None if the class is unknown. Configure it with loadConfig().

doProcess() → None: Reads from the device. Call it periodically, e.g. at getProcessRate() Hz.

enableVerbose(enabled: bool = True) → None

getClassName() → str

getObservations() → list[tuple[datetime.timedelta, mrpt.serialization.CSerializable]]: Returns (and removes) the observations gathered so far, as a list of (timestamp, observation) tuples