Detailed Description

This "software driver" implements the communication protocol for interfacing a Ultrasonic range finder SRF10 through a custom USB 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 serial number of the USB device is used to open it on the first call to "doProcess", thus you must call "loadConfig" before this, or manually call "setDeviceSerialNumber". The default serial number is "SONAR001"

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]
  USB_serialNumber=SONAR001
  gain=6                        ; Value between 0 and 16, for analog gains between 40 and 700.
  maxRange=4.0          ; In meters, used for device internal timer.
  minTimeBetweenPings=0.3  ; In seconds
  ; The order in which sonars will be fired, indexed by their I2C addresses [0,15]
  ;  Up to 16 devices, but you can put any number of devices (from 1 to 16).
  firingOrder=0 1 2 3

Definition at line 48 of file CBoardSonars.h.

#include <mrpt/hwdrivers/CBoardSonars.h>

Inheritance diagram for mrpt::hwdrivers::CBoardSonars:

Public Types
enum	TSeekOrigin { sFromBeginning = 0, sFromCurrent = 1, sFromEnd = 2 }
	Used in CStream::Seek. More...

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

typedef std::multimap< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr >	TListObservations

typedef std::pair< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr >	TListObsPair

typedef CGenericSensorPtr	Ptr

typedef std::shared_ptr< const CGenericSensor >	ConstPtr

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

virtual	~CBoardSonars ()
	Destructor. More...

bool	queryFirmwareVersion (std::string &out_firmwareVersion)
	Query the firmware version on the device (can be used to test communications). More...

bool	getObservation (mrpt::obs::CObservationRange &obs)
	Request the latest range measurements. More...

bool	programI2CAddress (uint8_t currentAddress, uint8_t newAddress)
	Requests a command of "change address" for a given SRF10 device. More...

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

bool	isOpen ()
	Checks whether the chip has been successfully open. More...

void	OpenBySerialNumber (const std::string &serialNumber)
	Open by device serial number. More...

void	OpenByDescription (const std::string &description)
	Open by device description. More...

void	Close ()
	Close the USB device. More...

void	ResetDevice ()
	Reset the USB device. More...

void	Purge ()
	Purge the I/O buffers. More...

void	SetLatencyTimer (unsigned char latency_ms)
	Change the latency timer (in milliseconds) implemented on the FTDI chip: for a few ms, data is not sent to the PC waiting for possible more data, to save USB trafic. More...

void	SetTimeouts (unsigned long dwReadTimeout_ms, unsigned long dwWriteTimeout_ms)
	Change read & write timeouts, in milliseconds. More...

void	ListAllDevices (TFTDIDeviceList &outList)
	Generates a list with all FTDI devices connected right now. More...

size_t	ReadSync (void *Buffer, size_t Count)
	Tries to read, raising no exception if not all the bytes are available, but raising one if there is some communication error. More...

size_t	WriteSync (const void *Buffer, size_t Count)
	Tries to write, raising no exception if not all the bytes are available, but raising one if there is some communication error. More...

virtual size_t	ReadBufferImmediate (void *Buffer, size_t Count)
	Reads a block of bytes from the stream into Buffer, and returns the amound of bytes actually read, without waiting for more extra bytes to arrive (just those already enqued in the stream). More...

virtual uint64_t	Seek (int64_t Offset, CStream::TSeekOrigin Origin=sFromBeginning)=0
	Introduces a pure virtual method for moving to a specified position in the streamed resource. More...

size_t	ReadBuffer (void *Buffer, size_t Count)
	Reads a block of bytes from the stream into Buffer. More...

template<typename T >
size_t	ReadBufferFixEndianness (T *ptr, size_t ElementCount)
	Reads a sequence of elemental datatypes, taking care of reordering their bytes from the MRPT stream standard (little endianness) to the format of the running architecture. More...

void	WriteBuffer (const void *Buffer, size_t Count)
	Writes a block of bytes to the stream from Buffer. More...

template<typename T >
void	WriteBufferFixEndianness (const T *ptr, size_t ElementCount)
	Writes a sequence of elemental datatypes, taking care of reordering their bytes from the running architecture to MRPT stream standard (little endianness). More...

void	WriteObject (const CSerializable *o)
	Writes an object to the stream. More...

CSerializablePtr	ReadObject ()
	Reads an object from stream, its class determined at runtime, and returns a smart pointer to the object. More...

void	ReadObject (CSerializable *existingObj)
	Reads an object from stream, where its class must be the same as the supplied object, where the loaded object will be stored in. More...

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

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

CStream &	operator>> (CSerializablePtr &pObj)

CStream &	operator>> (CSerializable &obj)

template<typename STORED_TYPE , typename CAST_TO_TYPE >
void	ReadAsAndCastTo (CAST_TO_TYPE &read_here)
	Read a value from a stream stored in a type different of the target variable, making the conversion via static_cast. More...

virtual int	printf (const char *fmt,...) MRPT_printf_format_check(2
	Writes a string to the stream in a textual form. More...

template<typename CONTAINER_TYPE >
virtual int void	printf_vector (const char *fmt, const CONTAINER_TYPE &V, char separator=',')
	Prints a vector in the format [A,B,C,...] using CStream::printf, and the fmt string for each vector element `T`. More...

void	sendMessage (const utils::CMessage &msg)
	Send a message to the device. More...

bool	receiveMessage (utils::CMessage &msg)
	Tries to receive a message from the device. More...

bool	getline (std::string &out_str)
	Reads from the stream until a ' ' character is found ('' characters are ignored). More...

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

Protected Member Functions
bool	checkConnectionAndConnect ()
	Tries to connect to the USB device (if disconnected). More...

bool	sendConfigCommands ()
	Sends the configuration (max range, gain,...) to the USB board. More...

void	loadConfig_sensorSpecific (const mrpt::utils::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 utils::CConfigFileBase and derived classes) See hwdrivers::CBoardSonars for the possible parameters. More...

size_t	Read (void *Buffer, size_t Count)
	Introduces a pure virtual method responsible for reading from the stream. More...

size_t	Write (const void *Buffer, size_t Count)
	Introduces a pure virtual method responsible for writing to the stream. More...

uint64_t	Seek (int64_t Offset, CStream::TSeekOrigin Origin=sFromBeginning)
	This virtual method does nothing in this class. More...

uint64_t	getTotalBytesCount ()
	This virtual method does nothing in this class. More...

uint64_t	getPosition ()
	This virtual method does nothing in this class. More...

void	ftdi_read (void lpvBuffer, unsigned long dwBuffSize, unsigned long lpdwBytesRead)

void	ftdi_write (const void lpvBuffer, unsigned long dwBuffSize, unsigned long lpdwBytes)

void	recursive_fill_list_devices (void *usb_device_structure, TFTDIDeviceList &outList)
	Process recursively a USB device and its children: More...

template<bool EXISTING_OBJ>
void	internal_ReadObject (CSerializablePtr &newObj, CSerializable *existingObj=NULL)
	A common template code for both versions of CStream::ReadObject() More...

void	appendObservations (const std::vector< mrpt::utils::CSerializablePtr > &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::utils::CSerializablePtr &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...

uint8_t	m_gain
	A value between 0 and 16, for gains between 40 and 700 (not linear). More...

float	m_maxRange
	The maximum range in meters, used for the internal device timer (value between 4cm and 11m). More...

std::vector< int32_t >	m_firingOrder
	The order in which sonars will be fired, indexed by their I2C addresses [0,15]. More...

std::map< uint16_t, int32_t >	m_sonarGains
	The individual gains of the sonars, indexed by their I2C addresses [0,15]. More...

std::map< uint16_t, mrpt::math::TPose3D >	m_sonarPoses
	The poses of the sonars: x[m] y[m] z[m] yaw[deg] pitch[deg] roll[deg] Up to 16 devices, but you can put any number of devices (from 1 to 16). More...

float	m_minTimeBetweenPings
	The minimum time between sonar pings (in seconds). More...

mrpt::utils::circular_buffer< uint8_t >	m_readBuffer
	Used in Read. More...

void *	m_ftdi_context

size_t	m_grab_decimation_counter
	Used when "m_grab_decimation" is enabled. More...

TSensorState	m_state

bool	m_verbose

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

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

size_t	m_max_queue_len
	See CGenericSensor. More...

size_t	m_grab_decimation
	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

◆ ConstPtr

typedef std::shared_ptr<const CGenericSensor> mrpt::hwdrivers::CGenericSensor::ConstPtr

inherited

Definition at line 124 of file CGenericSensor.h.

◆ Ptr

typedef CGenericSensorPtr mrpt::hwdrivers::CGenericSensor::Ptr

inherited

Definition at line 123 of file CGenericSensor.h.

◆ TListObservations

typedef std::multimap< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > mrpt::hwdrivers::CGenericSensor::TListObservations

inherited

Definition at line 89 of file CGenericSensor.h.

◆ TListObsPair

typedef std::pair< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > mrpt::hwdrivers::CGenericSensor::TListObsPair

inherited

Definition at line 90 of file CGenericSensor.h.

Member Enumeration Documentation

◆ TSeekOrigin

enum mrpt::utils::CStream::TSeekOrigin

inherited

Used in CStream::Seek.

Enumerator
sFromBeginning
sFromCurrent
sFromEnd

Definition at line 42 of file CStream.h.

◆ TSensorState

enum mrpt::hwdrivers::CGenericSensor::TSensorState

inherited

The current state of the sensor.

See also: CGenericSensor::getState

Enumerator
ssInitializing
ssWorking
ssError

Definition at line 95 of file CGenericSensor.h.

Constructor & Destructor Documentation

◆ CBoardSonars()

CBoardSonars::CBoardSonars ( )

Constructor.

Definition at line 26 of file CBoardSonars.cpp.

References MRPT_END, and MRPT_START.

◆ ~CBoardSonars()

virtual mrpt::hwdrivers::CBoardSonars::~CBoardSonars ( )

inlinevirtual

Destructor.

Definition at line 59 of file CBoardSonars.h.

Member Function Documentation

◆ appendObservation()

void mrpt::hwdrivers::CGenericSensor::appendObservation ( const mrpt::utils::CSerializablePtr & obj )

inlineprotectedinherited

Like appendObservations() but for just one observation.

Definition at line 168 of file CGenericSensor.h.

◆ appendObservations()

void CGenericSensor::appendObservations ( const std::vector< mrpt::utils::CSerializablePtr > & 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::CObservationGPSPtr  o = CObservationGPSPtr( 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 53 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::CNationalInstrumentsDAQ::doProcess(), and mrpt::hwdrivers::CKinect::doProcess().

◆ checkConnectionAndConnect()

bool CBoardSonars::checkConnectionAndConnect ( )

protected

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

Returns: True on connection OK, false on error.

Definition at line 280 of file CBoardSonars.cpp.

References mrpt::system::sleep().

◆ Close()

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

inherited

Close the USB device.

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

◆ 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:

CGenericSensorPtr sensor = CGenericSensorPtr( CGenericSensor::createSensor("XXX") );

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

Definition at line 103 of file CGenericSensor.cpp.

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

◆ createSensorPtr()

static CGenericSensorPtr 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 201 of file CGenericSensor.h.

◆ doProcess()

void CBoardSonars::doProcess ( )

virtual

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 307 of file CBoardSonars.cpp.

References mrpt::obs::CObservationRange::Create(), and mrpt::obs::utils::getObservation().

◆ 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 113 of file CGenericSensor.h.

◆ ftdi_read()

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

protectedinherited

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

◆ ftdi_write()

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

protectedinherited

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

◆ getExternalImageJPEGQuality()

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

inlineinherited

Definition at line 255 of file CGenericSensor.h.

◆ getline()

bool CStream::getline ( std::string & out_str )

inherited

Reads from the stream until a '
' character is found ('' characters are ignored).

Returns: false on EOF or any other read error.

Definition at line 680 of file CStream.cpp.

◆ getObservation()

bool CBoardSonars::getObservation ( mrpt::obs::CObservationRange & obs )

Request the latest range measurements.

Returns: true on success, false on communications errors or device not found.

Definition at line 194 of file CBoardSonars.cpp.

◆ 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 90 of file CGenericSensor.cpp.

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

◆ getPosition()

uint64_t CInterfaceFTDI::getPosition ( )

protectedvirtualinherited

This virtual method does nothing in this class.

Implements mrpt::utils::CStream.

Definition at line 84 of file CInterfaceFTDI_common.cpp.

◆ getProcessRate()

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

inlineinherited

Definition at line 105 of file CGenericSensor.h.

◆ 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 107 of file CGenericSensor.h.

◆ getState()

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

inlineinherited

The current state of the sensor.

Definition at line 103 of file CGenericSensor.h.

◆ getTotalBytesCount()

uint64_t CInterfaceFTDI::getTotalBytesCount ( )

protectedvirtualinherited

This virtual method does nothing in this class.

Implements mrpt::utils::CStream.

Definition at line 76 of file CInterfaceFTDI_common.cpp.

◆ initialize()

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

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 222 of file CGenericSensor.h.

◆ internal_ReadObject()

template<bool EXISTING_OBJ>

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

protectedinherited

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

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

Definition at line 357 of file CStream.cpp.

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

◆ isOpen()

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

inherited

Checks whether the chip has been successfully open.

See also: OpenBySerialNumber, OpenByDescription

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

◆ isVerboseEnabled()

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

inlineinherited

Definition at line 114 of file CGenericSensor.h.

◆ ListAllDevices()

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

inherited

Generates a list with all FTDI devices connected right now.

◆ loadConfig()

void CGenericSensor::loadConfig	(	const mrpt::utils::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 131 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::utils::CConfigFileBase::read_double(), mrpt::utils::CConfigFileBase::read_int(), and mrpt::utils::CConfigFileBase::read_string().

Referenced by mrpt::hwdrivers::prepareVideoSourceFromPanel(), and mrpt::hwdrivers::prepareVideoSourceFromUserSelection().

◆ loadConfig_sensorSpecific()

void CBoardSonars::loadConfig_sensorSpecific	(	const mrpt::utils::CConfigFileBase &	configSource,
		const std::string &	iniSection
	)

protectedvirtual

Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file, loading from the section "[iniSection]" (see utils::CConfigFileBase and derived classes) See hwdrivers::CBoardSonars for the possible parameters.

Implements mrpt::hwdrivers::CGenericSensor.

Definition at line 42 of file CBoardSonars.cpp.

References ASSERT_, mrpt::utils::DEG2RAD(), mrpt::format(), MRPT_END, MRPT_START, mrpt::utils::CConfigFileBase::read_float(), mrpt::utils::CConfigFileBase::read_int(), mrpt::utils::CConfigFileBase::read_string(), and mrpt::utils::CConfigFileBase::read_vector().

◆ OpenByDescription()

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

inherited

Open by device description.

◆ OpenBySerialNumber()

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

inherited

Open by device serial number.

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

◆ operator<<() [1/2]

CStream & CStream::operator<< ( const CSerializablePtr & pObj )

inherited

Write an object to a stream in the binary MRPT format.

Definition at line 211 of file CStream.cpp.

◆ operator<<() [2/2]

CStream & CStream::operator<< ( const CSerializable & obj )

inherited

Write an object to a stream in the binary MRPT format.

Definition at line 218 of file CStream.cpp.

◆ operator>>() [1/2]

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

inherited

Definition at line 224 of file CStream.cpp.

◆ operator>>() [2/2]

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

inherited

Definition at line 230 of file CStream.cpp.

◆ printf()

int CStream::printf	(	const char *	fmt,
			...
	)

virtualinherited

Writes a string to the stream in a textual form.

See also: CStdOutStream

Definition at line 507 of file CStream.cpp.

References MRPT_END, MRPT_START, and vsnprintf.

◆ printf_vector()

template<typename CONTAINER_TYPE >

virtual int void mrpt::utils::CStream::printf_vector	(	const char *	fmt,
		const CONTAINER_TYPE &	V,
		char	separator = `','`
	)

inlineinherited

Prints a vector in the format [A,B,C,...] using CStream::printf, and the fmt string for each vector element T.

Template Parameters

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

Definition at line 208 of file CStream.h.

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

◆ programI2CAddress()

bool CBoardSonars::programI2CAddress	(	uint8_t	currentAddress,
		uint8_t	newAddress
	)

Requests a command of "change address" for a given SRF10 device.

currentAddress and newAddress are the I2C addresses in the range 0 to 15 (mapped to 0xE0 to 0xFE internally).

Returns: true on success, false on communications errors or device not found.

Definition at line 251 of file CBoardSonars.cpp.

References mrpt::utils::CMessage::content, mrpt::system::sleep(), and mrpt::utils::CMessage::type.

◆ Purge()

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

inherited

Purge the I/O buffers.

Referenced by mrpt::hwdrivers::CServoeNeck::checkConnectionAndConnect().

◆ queryFirmwareVersion()

bool CBoardSonars::queryFirmwareVersion ( std::string & out_firmwareVersion )

Query the firmware version on the device (can be used to test communications).

Returns: true on success, false on communications errors or device not found.

Definition at line 90 of file CBoardSonars.cpp.

References mrpt::utils::CMessage::getContentAsString(), and mrpt::utils::CMessage::type.

◆ Read()

size_t CInterfaceFTDI::Read	(	void *	Buffer,
		size_t	Count
	)

protectedvirtualinherited

Introduces a pure virtual method responsible for reading from the stream.

It integrates a cache buffer to speed-up sequences of many, small readings.

Implements mrpt::utils::CStream.

Definition at line 20 of file CInterfaceFTDI_common.cpp.

References mrpt::utils::circular_buffer< T >::available(), mrpt::hwdrivers::CInterfaceFTDI::ftdi_read(), mrpt::hwdrivers::CInterfaceFTDI::m_readBuffer, min, mrpt::utils::circular_buffer< T >::pop_many(), mrpt::utils::circular_buffer< T >::push_many(), and mrpt::utils::circular_buffer< T >::size().

◆ ReadAsAndCastTo()

template<typename STORED_TYPE , typename CAST_TO_TYPE >

void mrpt::utils::CStream::ReadAsAndCastTo ( CAST_TO_TYPE & read_here )

inlineinherited

Read a value from a stream stored in a type different of the target variable, making the conversion via static_cast.

Useful for coding backwards compatible de-serialization blocks

Definition at line 194 of file CStream.h.

◆ ReadBuffer()

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

inherited

Reads a block of bytes from the stream into Buffer.

Exceptions

std::exception On any error, or if ZERO bytes are read.

Returns: The amound of bytes actually read.

Note: This method is endianness-dependent.

See also: ReadBufferImmediate ; Important, see: ReadBufferFixEndianness,

Definition at line 45 of file CStream.cpp.

References ASSERT_, and THROW_EXCEPTION.

Referenced by mrpt::hwdrivers::CHokuyoURG::assureBufferHasBytes(), mrpt::compress::zip::compress_gz_data_block(), mrpt::compress::zip::decompress(), mrpt::compress::zip::decompress_gz_file(), mrpt::hwdrivers::CGPSInterface::doProcess(), fill_input_buffer(), mrpt::system::loadBinaryFile(), mrpt::utils::CMemoryStream::loadBufferFromFile(), and mrpt::hwdrivers::CHokuyoURG::purgeBuffers().

◆ ReadBufferFixEndianness()

template<typename T >

size_t mrpt::utils::CStream::ReadBufferFixEndianness	(	T *	ptr,
		size_t	ElementCount
	)

inlineinherited

Reads a sequence of elemental datatypes, taking care of reordering their bytes from the MRPT stream standard (little endianness) to the format of the running architecture.

Parameters

ElementCount	The number of elements (not bytes) to read.
ptr	A pointer to the first output element in an array (or std::vector<>, etc...).

Returns: The amound of bytes (not elements) actually read (under error situations, the last element may be invalid if the data stream abruptly ends). Example of usage:
uint32_t N;
s >> N;
vector<float> vec(N);
if (N)
s.ReadBufferFixEndianness<float>(&vec[0],N);

Exceptions

std::exception On any error, or if ZERO bytes are read.

See also: ReadBufferFixEndianness, ReadBuffer

Definition at line 95 of file CStream.h.

References mrpt::mrpt::utils::reverseBytesInPlace().

Referenced by mrpt::math::operator>>(), and triangle_readFromStream().

◆ ReadBufferImmediate()

size_t CInterfaceFTDI::ReadBufferImmediate	(	void *	Buffer,
		size_t	Count
	)

virtualinherited

Reads a block of bytes from the stream into Buffer, and returns the amound of bytes actually read, without waiting for more extra bytes to arrive (just those already enqued in the stream).

In this class this method actually behaves as expected and does not fallback to ReadBuffer().

Exceptions

std::exception On any error, or if ZERO bytes are read.

Reimplemented from mrpt::utils::CStream.

Definition at line 92 of file CInterfaceFTDI_common.cpp.

References mrpt::hwdrivers::CInterfaceFTDI::ftdi_read().

◆ ReadObject() [1/2]

CSerializablePtr CStream::ReadObject ( )

inherited

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

Exceptions

std::exception	On I/O error or undefined class.
mrpt::utils::CExceptionEOF	On an End-Of-File condition found at a correct place: an EOF that abruptly finishes in the middle of one object raises a plain std::exception instead.

Definition at line 486 of file CStream.cpp.

Referenced by mrpt::utils::mrpt_recv_from_zmq(), mrpt::utils::mrpt_recv_from_zmq_into(), mrpt::utils::OctetVectorToObject(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), mrpt::utils::RawStringToObject(), mrpt::utils::StringToObject(), and TEST().

◆ ReadObject() [2/2]

void CStream::ReadObject ( CSerializable * existingObj )

inherited

Reads an object from stream, where its class must be the same as the supplied object, where the loaded object will be stored in.

Exceptions

std::exception	On I/O error or different class found.
mrpt::utils::CExceptionEOF	On an End-Of-File condition found at a correct place: an EOF that abruptly finishes in the middle of one object raises a plain std::exception instead.

Definition at line 498 of file CStream.cpp.

◆ ReadSync()

size_t mrpt::hwdrivers::CInterfaceFTDI::ReadSync	(	void *	Buffer,
		size_t	Count
	)

inlineinherited

Tries to read, raising no exception if not all the bytes are available, but raising one if there is some communication error.

Definition at line 126 of file CInterfaceFTDI.h.

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

◆ receiveMessage()

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

inherited

Tries to receive a message from the device.

Exceptions

std::exception On communication errors

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

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

Definition at line 590 of file CStream.cpp.

References mrpt::utils::CMessage::content, MAKEWORD16B, mrpt::system::os::memcpy(), MRPT_END, MRPT_START, and mrpt::utils::CMessage::type.

◆ recursive_fill_list_devices()

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

protectedinherited

Process recursively a USB device and its children:

◆ 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 120 of file CGenericSensor.cpp.

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

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

◆ ResetDevice()

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

inherited

Reset the USB device.

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

◆ Seek() [1/2]

virtual uint64_t mrpt::utils::CStream::Seek	(	int64_t	Offset,
		CStream::TSeekOrigin	Origin = `sFromBeginning`
	)

pure virtualinherited

Introduces a pure virtual method for moving to a specified position in the streamed resource.

he Origin parameter indicates how to interpret the Offset parameter. Origin should be one of the following values:

sFromBeginning (Default) Offset is from the beginning of the resource. Seek moves to the position Offset. Offset must be >= 0.
sFromCurrent Offset is from the current position in the resource. Seek moves to Position + Offset.
sFromEnd Offset is from the end of the resource. Offset must be <= 0 to indicate a number of bytes before the end of the file.
Returns
Seek returns the new value of the Position property.

Implemented in mrpt::utils::CClientTCPSocket, mrpt::utils::CFileStream, mrpt::utils::CFileOutputStream, mrpt::utils::CFileGZInputStream, mrpt::utils::CMemoryStream, mrpt::utils::CFileInputStream, and mrpt::utils::CStdOutStream.

◆ Seek() [2/2]

uint64_t CInterfaceFTDI::Seek	(	int64_t	Offset,
		CStream::TSeekOrigin	Origin = `sFromBeginning`
	)

protectedinherited

This virtual method does nothing in this class.

Definition at line 66 of file CInterfaceFTDI_common.cpp.

References MRPT_UNUSED_PARAM.

◆ sendConfigCommands()

bool CBoardSonars::sendConfigCommands ( )

protected

Sends the configuration (max range, gain,...) to the USB board.

Used internally after a successfull connection.

Returns: true on success, false on communications errors or device not found.

Definition at line 121 of file CBoardSonars.cpp.

References mrpt::utils::CMessage::content, and mrpt::utils::CMessage::type.

◆ sendMessage()

void CStream::sendMessage ( const utils::CMessage & msg )

inherited

Send a message to the device.

Note that only the low byte from the "type" field will be used.

For frames of size < 255 the frame format is an array of bytes in this order:

<START_FLAG> <HEADER> <LENGTH> <BODY> <END_FLAG>
       <START_FLAG>    = 0x69
       <HEADER>                = A header byte
       <LENGHT>                = Number of bytes of BODY
       <BODY>                  = N x bytes
       <END_FLAG>              = 0X96
Total length   =       <LENGTH> + 4

For frames of size > 255 the frame format is an array of bytes in this order:

<START_FLAG> <HEADER> <HIBYTE(LENGTH)> <LOBYTE(LENGTH)> <BODY> <END_FLAG>
       <START_FLAG>    = 0x79
       <HEADER>                = A header byte
       <LENGHT>                = Number of bytes of BODY
       <BODY>                  = N x bytes
       <END_FLAG>              = 0X96
Total length   =       <LENGTH> + 5

Exceptions

std::exception On communication errors

Definition at line 556 of file CStream.cpp.

References mrpt::utils::CMessage::content, mrpt::system::os::memcpy(), MRPT_END, MRPT_START, and mrpt::utils::CMessage::type.

Referenced by mrpt::hwdrivers::CServoeNeck::disableServo(), mrpt::hwdrivers::CServoeNeck::enableServo(), mrpt::hwdrivers::CRoboticHeadInterface::Get3SoundBuffer(), mrpt::hwdrivers::CRoboticHeadInterface::GetGain(), mrpt::hwdrivers::CServoeNeck::getRegisterValue(), mrpt::hwdrivers::CRoboticHeadInterface::GetSoundLocation(), mrpt::hwdrivers::CServoeNeck::queryFirmwareVersion(), mrpt::hwdrivers::CBoardENoses::queryFirmwareVersion(), mrpt::hwdrivers::CRoboticHeadInterface::SetGain(), mrpt::hwdrivers::CServoeNeck::setRegisterValue(), and mrpt::hwdrivers::CServoeNeck::setRegisterValueAndSpeed().

◆ 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 247 of file CGenericSensor.h.

◆ 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 252 of file CGenericSensor.h.

References quality.

◆ SetLatencyTimer()

void mrpt::hwdrivers::CInterfaceFTDI::SetLatencyTimer ( unsigned char latency_ms )

inherited

Change the latency timer (in milliseconds) implemented on the FTDI chip: for a few ms, data is not sent to the PC waiting for possible more data, to save USB trafic.

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

◆ setPathForExternalImages()

virtual void mrpt::hwdrivers::CGenericSensor::setPathForExternalImages ( 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.

Reimplemented in mrpt::hwdrivers::CCameraSensor, mrpt::hwdrivers::CKinect, mrpt::hwdrivers::COpenNI2Sensor, mrpt::hwdrivers::COpenNI2_RGBD360, and mrpt::hwdrivers::CSwissRanger3DCamera.

Definition at line 238 of file CGenericSensor.h.

References MRPT_UNUSED_PARAM.

◆ setSensorLabel()

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

inlineinherited

Definition at line 108 of file CGenericSensor.h.

◆ SetTimeouts()

void mrpt::hwdrivers::CInterfaceFTDI::SetTimeouts	(	unsigned long	dwReadTimeout_ms,
		unsigned long	dwWriteTimeout_ms
	)

inherited

Change read & write timeouts, in milliseconds.

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

◆ Write()

size_t CInterfaceFTDI::Write	(	const void *	Buffer,
		size_t	Count
	)

protectedvirtualinherited

Introduces a pure virtual method responsible for writing to the stream.

Write attempts to write up to Count bytes to Buffer, and returns the number of bytes actually written.

Implements mrpt::utils::CStream.

Definition at line 56 of file CInterfaceFTDI_common.cpp.

References mrpt::hwdrivers::CInterfaceFTDI::ftdi_write().

◆ WriteBuffer()

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

inherited

Writes a block of bytes to the stream from Buffer.

Exceptions

std::exception On any error

See also: Important, see: WriteBufferFixEndianness

Note: This method is endianness-dependent.

Definition at line 67 of file CStream.cpp.

References ASSERT_, and THROW_EXCEPTION.

◆ WriteBufferFixEndianness()

template<typename T >

void mrpt::utils::CStream::WriteBufferFixEndianness	(	const T *	ptr,
		size_t	ElementCount
	)

inlineinherited

Writes a sequence of elemental datatypes, taking care of reordering their bytes from the running architecture to MRPT stream standard (little endianness).

Parameters

ElementCount	The number of elements (not bytes) to write.
ptr	A pointer to the first input element in an array (or std::vector<>, etc...). Example of usage: vector<float> vec = ... uint32_t N = vec.size(); s << N if (N) s.WriteBufferFixEndianness<float>(&vec[0],N);

Exceptions

std::exception On any error

See also: WriteBuffer

Definition at line 139 of file CStream.h.

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

◆ WriteObject()

void CStream::WriteObject ( const CSerializable * o )

inherited

Writes an object to the stream.

Definition at line 166 of file CStream.cpp.

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

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

◆ WriteSync()

size_t mrpt::hwdrivers::CInterfaceFTDI::WriteSync	(	const void *	Buffer,
		size_t	Count
	)

inlineinherited

Tries to write, raising no exception if not all the bytes are available, but raising one if there is some communication error.

Definition at line 133 of file CInterfaceFTDI.h.

Member Data Documentation

◆ m_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 152 of file CGenericSensor.h.

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

◆ m_external_images_jpeg_quality

unsigned int mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality

protectedinherited

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

Definition at line 153 of file CGenericSensor.h.

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

◆ m_firingOrder

std::vector<int32_t> mrpt::hwdrivers::CBoardSonars::m_firingOrder

protected

The order in which sonars will be fired, indexed by their I2C addresses [0,15].

Up to 16 devices, but you can put any number of devices (from 1 to 16).

Definition at line 96 of file CBoardSonars.h.

◆ m_ftdi_context

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

protectedinherited

Definition at line 227 of file CInterfaceFTDI.h.

◆ m_gain

uint8_t mrpt::hwdrivers::CBoardSonars::m_gain

protected

A value between 0 and 16, for gains between 40 and 700 (not linear).

Definition at line 87 of file CBoardSonars.h.

◆ m_grab_decimation

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation

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

protectedinherited

Used when "m_grab_decimation" is enabled.

Definition at line 144 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

protectedinherited

See CGenericSensor.

Definition at line 138 of file CGenericSensor.h.

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

◆ m_maxRange

float mrpt::hwdrivers::CBoardSonars::m_maxRange

protected

The maximum range in meters, used for the internal device timer (value between 4cm and 11m).

Definition at line 91 of file CBoardSonars.h.

◆ m_minTimeBetweenPings

float mrpt::hwdrivers::CBoardSonars::m_minTimeBetweenPings

protected

The minimum time between sonar pings (in seconds).

Definition at line 110 of file CBoardSonars.h.

◆ 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 151 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

protectedinherited

See CGenericSensor.

Definition at line 137 of file CGenericSensor.h.

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

◆ m_readBuffer

mrpt::utils::circular_buffer<uint8_t> mrpt::hwdrivers::CInterfaceFTDI::m_readBuffer

protectedinherited

Used in Read.

Definition at line 150 of file CInterfaceFTDI.h.

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

◆ m_sensorLabel

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

protectedinherited

See CGenericSensor.

Definition at line 140 of file CGenericSensor.h.

◆ m_sonarGains

std::map<uint16_t,int32_t> mrpt::hwdrivers::CBoardSonars::m_sonarGains

protected

The individual gains of the sonars, indexed by their I2C addresses [0,15].

Up to 16 devices, but you can put any number of devices (from 1 to 16).

Definition at line 101 of file CBoardSonars.h.

◆ m_sonarPoses

std::map<uint16_t,mrpt::math::TPose3D> mrpt::hwdrivers::CBoardSonars::m_sonarPoses

protected

The poses of the sonars: x[m] y[m] z[m] yaw[deg] pitch[deg] roll[deg] Up to 16 devices, but you can put any number of devices (from 1 to 16).

Definition at line 106 of file CBoardSonars.h.

◆ m_state

TSensorState mrpt::hwdrivers::CGenericSensor::m_state

protectedinherited

Definition at line 146 of file CGenericSensor.h.

◆ m_usbSerialNumber

std::string mrpt::hwdrivers::CBoardSonars::m_usbSerialNumber

protected

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

Definition at line 83 of file CBoardSonars.h.

◆ m_verbose

bool mrpt::hwdrivers::CGenericSensor::m_verbose

protectedinherited

Definition at line 147 of file CGenericSensor.h.

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

◆ TListObservations

◆ TListObsPair

Member Enumeration Documentation

◆ TSeekOrigin

◆ TSensorState

Constructor & Destructor Documentation

◆ CBoardSonars()

◆ ~CBoardSonars()

Member Function Documentation

◆ appendObservation()

◆ appendObservations()

◆ checkConnectionAndConnect()

◆ Close()

◆ createSensor()

◆ createSensorPtr()

◆ doProcess()

◆ enableVerbose()

◆ ftdi_read()

◆ ftdi_write()

◆ getExternalImageJPEGQuality()

◆ getline()

◆ getObservation()

◆ getObservations()

◆ getPosition()

◆ getProcessRate()

◆ GetRuntimeClass()

◆ getSensorLabel()

◆ getState()

◆ getTotalBytesCount()

◆ initialize()

◆ internal_ReadObject()

◆ isOpen()

◆ isVerboseEnabled()

◆ ListAllDevices()

◆ loadConfig()

◆ loadConfig_sensorSpecific()

◆ OpenByDescription()

◆ OpenBySerialNumber()

◆ operator<<() [1/2]

◆ operator<<() [2/2]

◆ operator>>() [1/2]

◆ operator>>() [2/2]

◆ printf()

◆ printf_vector()

◆ programI2CAddress()

◆ Purge()

◆ queryFirmwareVersion()

◆ Read()

◆ ReadAsAndCastTo()

◆ ReadBuffer()

◆ ReadBufferFixEndianness()

◆ ReadBufferImmediate()

◆ ReadObject() [1/2]

◆ ReadObject() [2/2]

◆ ReadSync()

◆ receiveMessage()

◆ recursive_fill_list_devices()

◆ registerClass()

◆ ResetDevice()

◆ Seek() [1/2]

◆ Seek() [2/2]

◆ sendConfigCommands()

◆ sendMessage()

◆ setExternalImageFormat()

◆ setExternalImageJPEGQuality()

◆ SetLatencyTimer()

◆ setPathForExternalImages()

◆ setSensorLabel()

◆ SetTimeouts()

◆ Write()

◆ WriteBuffer()