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<h1>CBoardSonars.h</h1><a href="_c_board_sonars_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://mrpt.sourceforge.net/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2010 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef CBoardSonars_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CBoardSonars_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="_c_interface_f_t_d_i_messages_8h.html">mrpt/hwdrivers/CInterfaceFTDIMessages.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_generic_sensor_8h.html">mrpt/hwdrivers/CGenericSensor.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="synch_8h.html">mrpt/synch.h</a>></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="_c_debug_output_capable_8h.html">mrpt/utils/CDebugOutputCapable.h</a>></span>
<a name="l00035"></a>00035 <span class="preprocessor">#include <<a class="code" href="_c_config_file_base_8h.html">mrpt/utils/CConfigFileBase.h</a>></span>
<a name="l00036"></a>00036 <span class="preprocessor">#include <<a class="code" href="_c_observation_range_8h.html">mrpt/slam/CObservationRange.h</a>></span>
<a name="l00037"></a>00037
<a name="l00038"></a>00038 <span class="keyword">namespace </span>mrpt
<a name="l00039"></a>00039 {
<a name="l00040"></a>00040 <span class="keyword">namespace </span>hwdrivers
<a name="l00041"></a>00041 {<span class="comment"></span>
<a name="l00042"></a>00042 <span class="comment"> /** This "software driver" implements the communication protocol for interfacing a Ultrasonic range finder SRF10 through a custom USB board.</span>
<a name="l00043"></a>00043 <span class="comment"> *</span>
<a name="l00044"></a>00044 <span class="comment"> * 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.</span>
<a name="l00045"></a>00045 <span class="comment"> * 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</span>
<a name="l00046"></a>00046 <span class="comment"> * call "setDeviceSerialNumber". The default serial number is "SONAR001"</span>
<a name="l00047"></a>00047 <span class="comment"> *</span>
<a name="l00048"></a>00048 <span class="comment"> * Warning: Avoid defining an object of this class in a global scope if you want to catch all potential</span>
<a name="l00049"></a>00049 <span class="comment"> * exceptions during the constructors (like USB interface DLL not found, etc...)</span>
<a name="l00050"></a>00050 <span class="comment"> *</span>
<a name="l00051"></a>00051 <span class="comment"> * \code</span>
<a name="l00052"></a>00052 <span class="comment"> * PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:</span>
<a name="l00053"></a>00053 <span class="comment"> * -------------------------------------------------------</span>
<a name="l00054"></a>00054 <span class="comment"> * [supplied_section_name]</span>
<a name="l00055"></a>00055 <span class="comment"> * USB_serialNumber=SONAR001</span>
<a name="l00056"></a>00056 <span class="comment"> * gain=6 ; Value between 0 and 16, for analog gains between 40 and 700.</span>
<a name="l00057"></a>00057 <span class="comment"> * maxRange=4.0 ; In meters, used for device internal timer.</span>
<a name="l00058"></a>00058 <span class="comment"> * minTimeBetweenPings=0.3 ; In seconds</span>
<a name="l00059"></a>00059 <span class="comment"> *</span>
<a name="l00060"></a>00060 <span class="comment"> * ; The order in which sonars will be fired, indexed by their I2C addresses [0,15]</span>
<a name="l00061"></a>00061 <span class="comment"> * ; Up to 16 devices, but you can put any number of devices (from 1 to 16).</span>
<a name="l00062"></a>00062 <span class="comment"> * firingOrder=0 1 2 3</span>
<a name="l00063"></a>00063 <span class="comment"> *</span>
<a name="l00064"></a>00064 <span class="comment"> *</span>
<a name="l00065"></a>00065 <span class="comment"> * \endcode</span>
<a name="l00066"></a>00066 <span class="comment"> *</span>
<a name="l00067"></a>00067 <span class="comment"> */</span>
<a name="l00068"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_board_sonars.html">00068</a> <span class="keyword">class </span><a class="code" href="hwdrivers__impexp_8h.html#a5bcf681973c7e4e76310bd0791f1b612">HWDRIVERS_IMPEXP</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_board_sonars.html" title="This &quot;software driver&quot; implements the communication protocol for interfacing...">CBoardSonars</a> : <span class="keyword">public</span> hwdrivers::<a class="code" href="classmrpt_1_1hwdrivers_1_1_c_interface_f_t_d_i_messages.html" title="An implementation of message passing over a FTDI USB link.">CInterfaceFTDIMessages</a>, <span class="keyword">public</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html" title="A generic interface for a wide-variety of sensors designed to be used in the application...">CGenericSensor</a>
<a name="l00069"></a>00069 {
<a name="l00070"></a>00070 <a class="code" href="_c_generic_sensor_8h.html#ab8b72c811c520eb036fa4080d9cd9d1d" title="This declaration must be inserted in all CGenericSensor classes definition, within...">DEFINE_GENERIC_SENSOR</a>(<a class="code" href="classmrpt_1_1hwdrivers_1_1_c_board_sonars.html" title="This &quot;software driver&quot; implements the communication protocol for interfacing...">CBoardSonars</a>)
<a name="l00071"></a>00071
<a name="l00072"></a>00072 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00073"></a>00073 <span class="comment"> /** Constructor</span>
<a name="l00074"></a>00074 <span class="comment"> */</span>
<a name="l00075"></a>00075 <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_board_sonars.html" title="This &quot;software driver&quot; implements the communication protocol for interfacing...">CBoardSonars</a>();
<a name="l00076"></a>00076 <span class="comment"></span>
<a name="l00077"></a>00077 <span class="comment"> /** Destructor</span>
<a name="l00078"></a>00078 <span class="comment"> */</span>
<a name="l00079"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_board_sonars.html#aa69658a9c26096f30b8afe0459e63371">00079</a> <span class="keyword">virtual</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_board_sonars.html#aa69658a9c26096f30b8afe0459e63371" title="Destructor.">~CBoardSonars</a>(){}
<a name="l00080"></a>00080 <span class="comment"></span>
<a name="l00081"></a>00081 <span class="comment"> /** Query the firmware version on the device (can be used to test communications).</span>
<a name="l00082"></a>00082 <span class="comment"> * \return true on success, false on communications errors or device not found.</span>
<a name="l00083"></a>00083 <span class="comment"> */</span>
<a name="l00084"></a>00084 <span class="keywordtype">bool</span> queryFirmwareVersion( std::string &out_firmwareVersion );
<a name="l00085"></a>00085 <span class="comment"></span>
<a name="l00086"></a>00086 <span class="comment"> /** Request the latest range measurements.</span>
<a name="l00087"></a>00087 <span class="comment"> * \return true on success, false on communications errors or device not found.</span>
<a name="l00088"></a>00088 <span class="comment"> */</span>
<a name="l00089"></a>00089 <span class="keywordtype">bool</span> getObservation( <a class="code" href="classmrpt_1_1slam_1_1_c_observation_range.html" title="Declares a class derived from &quot;CObservation&quot; that encapsules a single range...">mrpt::slam::CObservationRange</a> &obs );
<a name="l00090"></a>00090 <span class="comment"></span>
<a name="l00091"></a>00091 <span class="comment"> /** Requests a command of "change address" for a given SRF10 device.</span>
<a name="l00092"></a>00092 <span class="comment"> * currentAddress and newAddress are the I2C addresses in the range 0 to 15 (mapped to 0xE0 to 0xFE internally).</span>
<a name="l00093"></a>00093 <span class="comment"> * \return true on success, false on communications errors or device not found.</span>
<a name="l00094"></a>00094 <span class="comment"> */</span>
<a name="l00095"></a>00095 <span class="keywordtype">bool</span> programI2CAddress( uint8_t currentAddress, uint8_t newAddress );
<a name="l00096"></a>00096 <span class="comment"></span>
<a name="l00097"></a>00097 <span class="comment"> /** This method should be called periodically (at least at 1Hz to capture ALL the real-time data)</span>
<a name="l00098"></a>00098 <span class="comment"> * It is thread safe, i.e. you can call this from one thread, then to other methods from other threads.rip</span>
<a name="l00099"></a>00099 <span class="comment"> */</span>
<a name="l00100"></a>00100 <span class="keywordtype">void</span> doProcess();
<a name="l00101"></a>00101
<a name="l00102"></a>00102 <span class="keyword">protected</span>:<span class="comment"></span>
<a name="l00103"></a>00103 <span class="comment"> /** A copy of the device serial number (to open the USB FTDI chip)</span>
<a name="l00104"></a>00104 <span class="comment"> */</span>
<a name="l00105"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_board_sonars.html#a73799b351c3224efd8dccdfc97a2a31e">00105</a> std::string m_usbSerialNumber;
<a name="l00106"></a>00106
<a name="l00107"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_board_sonars.html#a1ab42fa13cf86fd4884acbb9591b04ee">00107</a> std::string m_sensorLabel;
<a name="l00108"></a>00108 <span class="comment"></span>
<a name="l00109"></a>00109 <span class="comment"> /** A value between 0 and 16, for gains between 40 and 700 (not linear).</span>
<a name="l00110"></a>00110 <span class="comment"> */</span>
<a name="l00111"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_board_sonars.html#ae605a2d13ab31daae5da2a296c94435d">00111</a> uint8_t m_gain;
<a name="l00112"></a>00112 <span class="comment"></span>
<a name="l00113"></a>00113 <span class="comment"> /** The maximum range in meters, used for the internal device timer (value between 4cm and 11m).</span>
<a name="l00114"></a>00114 <span class="comment"> */</span>
<a name="l00115"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_board_sonars.html#a1bbf6685088de2918687141a1a97b5ad">00115</a> <span class="keywordtype">float</span> m_maxRange;
<a name="l00116"></a>00116 <span class="comment"></span>
<a name="l00117"></a>00117 <span class="comment"> /** The order in which sonars will be fired, indexed by their I2C addresses [0,15].</span>
<a name="l00118"></a>00118 <span class="comment"> * Up to 16 devices, but you can put any number of devices (from 1 to 16).</span>
<a name="l00119"></a>00119 <span class="comment"> */</span>
<a name="l00120"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_board_sonars.html#a4d856bc4971201ac4c9c94a1d35c29a5">00120</a> std::vector<int32_t> m_firingOrder;
<a name="l00121"></a>00121 <span class="comment"></span>
<a name="l00122"></a>00122 <span class="comment"> /** The individual gains of the sonars, indexed by their I2C addresses [0,15].</span>
<a name="l00123"></a>00123 <span class="comment"> * Up to 16 devices, but you can put any number of devices (from 1 to 16).</span>
<a name="l00124"></a>00124 <span class="comment"> */</span>
<a name="l00125"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_board_sonars.html#af1ea74ef26b35d5887cb91f8c13110ff">00125</a> std::map<uint16_t,int32_t> m_sonarGains;
<a name="l00126"></a>00126 <span class="comment"></span>
<a name="l00127"></a>00127 <span class="comment"> /** The poses of the sonars: x[m] y[m] z[m] yaw[deg] pitch[deg] roll[deg]</span>
<a name="l00128"></a>00128 <span class="comment"> * Up to 16 devices, but you can put any number of devices (from 1 to 16).</span>
<a name="l00129"></a>00129 <span class="comment"> */</span>
<a name="l00130"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_board_sonars.html#a9abe31d771a1fdff72331393dc069619">00130</a> std::map<uint16_t,mrpt::math::TPose3D> m_sonarPoses;
<a name="l00131"></a>00131 <span class="comment"></span>
<a name="l00132"></a>00132 <span class="comment"> /** The minimum time between sonar pings (in seconds).</span>
<a name="l00133"></a>00133 <span class="comment"> */</span>
<a name="l00134"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_board_sonars.html#a1ec733531657392b4c1ebdc3ad4334e0">00134</a> <span class="keywordtype">float</span> m_minTimeBetweenPings;
<a name="l00135"></a>00135 <span class="comment"></span>
<a name="l00136"></a>00136 <span class="comment"> /** Tries to connect to the USB device (if disconnected).</span>
<a name="l00137"></a>00137 <span class="comment"> * \return True on connection OK, false on error.</span>
<a name="l00138"></a>00138 <span class="comment"> */</span>
<a name="l00139"></a>00139 <span class="keywordtype">bool</span> checkConnectionAndConnect();
<a name="l00140"></a>00140 <span class="comment"></span>
<a name="l00141"></a>00141 <span class="comment"> /** Sends the configuration (max range, gain,...) to the USB board. Used internally after a successfull connection.</span>
<a name="l00142"></a>00142 <span class="comment"> * \return true on success, false on communications errors or device not found.</span>
<a name="l00143"></a>00143 <span class="comment"> */</span>
<a name="l00144"></a>00144 <span class="keywordtype">bool</span> sendConfigCommands();
<a name="l00145"></a>00145 <span class="comment"></span>
<a name="l00146"></a>00146 <span class="comment"> /** Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file,</span>
<a name="l00147"></a>00147 <span class="comment"> * loading from the section "[iniSection]" (see utils::CConfigFileBase and derived classes)</span>
<a name="l00148"></a>00148 <span class="comment"> * See hwdrivers::CBoardSonars for the possible parameters</span>
<a name="l00149"></a>00149 <span class="comment"> */</span>
<a name="l00150"></a>00150 <span class="keywordtype">void</span> loadConfig_sensorSpecific( <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_config_file_base.html" title="This class allows loading and storing values and vectors of different types from...">mrpt::utils::CConfigFileBase</a> &configSource,
<a name="l00151"></a>00151 <span class="keyword">const</span> std::string &iniSection );
<a name="l00152"></a>00152
<a name="l00153"></a>00153
<a name="l00154"></a>00154
<a name="l00155"></a>00155 }; <span class="comment">// End of class</span>
<a name="l00156"></a>00156 } <span class="comment">// End of namespace</span>
<a name="l00157"></a>00157 } <span class="comment">// End of namespace</span>
<a name="l00158"></a>00158
<a name="l00159"></a>00159
<a name="l00160"></a>00160 <span class="preprocessor">#endif</span>
</pre></div></div>
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