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<div class="title">CBoardENoses.h</div> </div>
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<a href="_c_board_e_noses_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://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 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
<a name="l00029"></a>00029 <span class="preprocessor">#ifndef CBoardENoses_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span><span class="preprocessor">#define CBoardENoses_H</span>
<a name="l00031"></a>00031 <span class="preprocessor"></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_interface_f_t_d_i_8h.html">mrpt/hwdrivers/CInterfaceFTDI.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_serial_port_8h.html">mrpt/hwdrivers/CSerialPort.h</a>></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="_c_generic_sensor_8h.html">mrpt/hwdrivers/CGenericSensor.h</a>></span>
<a name="l00035"></a>00035
<a name="l00036"></a>00036 <span class="preprocessor">#include <<a class="code" href="_c_observation_gas_sensors_8h.html">mrpt/slam/CObservationGasSensors.h</a>></span>
<a name="l00037"></a>00037 <span class="preprocessor">#include <<a class="code" href="_c_config_file_base_8h.html">mrpt/utils/CConfigFileBase.h</a>></span>
<a name="l00038"></a>00038
<a name="l00039"></a>00039
<a name="l00040"></a>00040 <span class="keyword">namespace </span>mrpt
<a name="l00041"></a>00041 {
<a name="l00042"></a>00042 <span class="keyword">namespace </span>hwdrivers
<a name="l00043"></a>00043 {<span class="comment"></span>
<a name="l00044"></a>00044 <span class="comment"> /** A class for interfacing an e-Noses via a FTDI USB link.</span>
<a name="l00045"></a>00045 <span class="comment"> * Implemented for the board v1.0 designed by 2007 @ ISA (University of Malaga).</span>
<a name="l00046"></a>00046 <span class="comment"> *</span>
<a name="l00047"></a>00047 <span class="comment"> * \code</span>
<a name="l00048"></a>00048 <span class="comment"> * PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:</span>
<a name="l00049"></a>00049 <span class="comment"> * -------------------------------------------------------</span>
<a name="l00050"></a>00050 <span class="comment"> * [supplied_section_name]</span>
<a name="l00051"></a>00051 <span class="comment"> * USB_serialname=ENOSE001 // USB FTDI pipe: will open only if COM_port_* are not set or empty</span>
<a name="l00052"></a>00052 <span class="comment"> *</span>
<a name="l00053"></a>00053 <span class="comment"> * COM_port_WIN = COM1 // Serial port to connect to.</span>
<a name="l00054"></a>00054 <span class="comment"> * COM_port_LIN = ttyS0</span>
<a name="l00055"></a>00055 <span class="comment"> *</span>
<a name="l00056"></a>00056 <span class="comment"> * COM_baudRate = 115200</span>
<a name="l00057"></a>00057 <span class="comment"> *</span>
<a name="l00058"></a>00058 <span class="comment"> * ; 3D position (in meters) of the master +slave eNoses</span>
<a name="l00059"></a>00059 <span class="comment"> * enose_poses_x=<MASTER X> <SLAVE#1 X> <SLAVE#2 X> <SLAVE#3 X>...</span>
<a name="l00060"></a>00060 <span class="comment"> * enose_poses_y=<MASTER Y> <SLAVE#1 Y> <SLAVE#2 Y> <SLAVE#3 Y>...</span>
<a name="l00061"></a>00061 <span class="comment"> * enose_poses_z=<MASTER Z> <SLAVE#1 Z> <SLAVE#2 Z> <SLAVE#3 Z>...</span>
<a name="l00062"></a>00062 <span class="comment"> *</span>
<a name="l00063"></a>00063 <span class="comment"> * ; 3D pose angles (in degrees) of the master +slave eNoses</span>
<a name="l00064"></a>00064 <span class="comment"> * enose_poses_yaw=<MASTER YAW> <SLAVE#1 YAW> <SLAVE#2 YAW> <SLAVE#3 YAW>...</span>
<a name="l00065"></a>00065 <span class="comment"> * enose_poses_pitch=<MASTER PITCH> <SLAVE#1 PITCH> <SLAVE#2 PITCH> <SLAVE#3 PITCH>...</span>
<a name="l00066"></a>00066 <span class="comment"> * enose_poses_roll=<MASTER ROLL> <SLAVE#1 ROLL> <SLAVE#2 ROLL> <SLAVE#3 ROLL>...</span>
<a name="l00067"></a>00067 <span class="comment"> *</span>
<a name="l00068"></a>00068 <span class="comment"> * \endcode</span>
<a name="l00069"></a>00069 <span class="comment"> *</span>
<a name="l00070"></a>00070 <span class="comment"> * \ingroup mrpt_hwdrivers_grp</span>
<a name="l00071"></a>00071 <span class="comment"> */</span>
<a name="l00072"></a>00072 <span class="keyword">class </span><a class="code" href="hwdrivers__impexp_8h.html#a5bcf681973c7e4e76310bd0791f1b612">HWDRIVERS_IMPEXP</a> CBoardENoses : <span class="keyword">public</span> mrpt::hwdrivers::<a class="code" href="namespacemrpt_1_1hwdrivers.html#a3f369b2dbc16368a52f0ddab62ba5702">CGenericSensor</a>
<a name="l00073"></a>00073 {
<a name="l00074"></a>00074 <a class="code" href="_c_generic_sensor_8h.html#ab8b72c811c520eb036fa4080d9cd9d1d" title="This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...">DEFINE_GENERIC_SENSOR</a>(CBoardENoses)
<a name="l00075"></a>00075
<a name="l00076"></a>00076 protected:<span class="comment"></span>
<a name="l00077"></a>00077 <span class="comment"> /** A copy of the device serial number (to open the USB FTDI chip)</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_e_noses.html#a52d9293e2909beba8ab6a19ac31a9e20">00079</a> std::<span class="keywordtype">string</span> m_usbSerialNumber;
<a name="l00080"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_board_e_noses.html#a5d0865a7b69ff1fec260796186c1b825">00080</a> mrpt::system::<a class="code" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a" title="A system independent time type, it holds the the number of 100-nanosecond intervals since January 1...">TTimeStamp</a> initial_timestamp;
<a name="l00081"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_board_e_noses.html#ab4c797e7982e124a2d2052eeece3a95b">00081</a> <span class="keywordtype">bool</span> first_reading;
<a name="l00082"></a>00082
<a name="l00083"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_board_e_noses.html#a20273a263cf81f717e3ef17c2d5e1bf2">00083</a> std::<span class="keywordtype">string</span> m_COM_port; <span class="comment">//!< If not an empty string (default), will open that serial port, otherwise will try to open USB FTDI device "m_usbSerialNumber"</span>
<a name="l00084"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_board_e_noses.html#a41e62ece74b99eb1d2673930da593e62">00084</a> <span class="comment"></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> m_COM_baud; <span class="comment">//!< Default=115200</span>
<a name="l00085"></a>00085 <span class="comment"></span>
<a name="l00086"></a>00086
<a name="l00087"></a>00087 <span class="comment">// Only one of these two streams will be !=NULL and open for each specific eNose board!</span><span class="comment"></span>
<a name="l00088"></a>00088 <span class="comment"> /** FTDI comms pipe (when not in serial port mode) */</span>
<a name="l00089"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_board_e_noses.html#a9c0df2e2ac8ddcbd4e928a7dfe414142">00089</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_interface_f_t_d_i.html" title="A definition of a CStream actually representing a USB connection to a FTDI chip.">CInterfaceFTDI</a> *m_stream_FTDI;<span class="comment"></span>
<a name="l00090"></a>00090 <span class="comment"> /** Serial port comms */</span>
<a name="l00091"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_board_e_noses.html#ab2607f94a5ea91e101245f28224021b1">00091</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html" title="A communications serial port built as an implementation of a utils::CStream.">CSerialPort</a> *m_stream_SERIAL;
<a name="l00092"></a>00092 <span class="comment"></span>
<a name="l00093"></a>00093 <span class="comment"> /** The 3D pose of the master + N slave eNoses on the robot (meters & radians) */</span>
<a name="l00094"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_board_e_noses.html#add242e70d53676d085892eab724f7fae">00094</a> std::<a class="code" href="classstd_1_1vector.html" title="STL class.">vector</a><<span class="keywordtype">float</span>> enose_poses_x,enose_poses_y,enose_poses_z,enose_poses_yaw,enose_poses_pitch,enose_poses_roll;
<a name="l00095"></a>00095 <span class="comment"></span>
<a name="l00096"></a>00096 <span class="comment"> /** Tries to connect to the USB device (if disconnected).</span>
<a name="l00097"></a>00097 <span class="comment"> * \return NULL on error, otherwise a stream to be used for comms.</span>
<a name="l00098"></a>00098 <span class="comment"> */</span>
<a name="l00099"></a>00099 mrpt::utils::<a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a>* checkConnectionAndConnect();
<a name="l00100"></a>00100 <span class="comment"></span>
<a name="l00101"></a>00101 <span class="comment"> /** 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)</span>
<a name="l00102"></a>00102 <span class="comment"> * See hwdrivers::CBoardENoses for the possible parameters</span>
<a name="l00103"></a>00103 <span class="comment"> */</span>
<a name="l00104"></a>00104 <span class="keywordtype">void</span> loadConfig_sensorSpecific(
<a name="l00105"></a>00105 const mrpt::utils::<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 a configuration text...">CConfigFileBase</a> &configSource,
<a name="l00106"></a>00106 const std::<span class="keywordtype">string</span> &section );
<a name="l00107"></a>00107
<a name="l00108"></a>00108 public:<span class="comment"></span>
<a name="l00109"></a>00109 <span class="comment"> /** Constructor</span>
<a name="l00110"></a>00110 <span class="comment"> * \param serialNumberUSBdevice The serial number (text) of the device to open.</span>
<a name="l00111"></a>00111 <span class="comment"> * The constructor will try to open the device. You can check if it failed calling "isOpen()".</span>
<a name="l00112"></a>00112 <span class="comment"> */</span>
<a name="l00113"></a>00113 <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_board_e_noses.html" title="A class for interfacing an e-Noses via a FTDI USB link.">CBoardENoses</a>( );
<a name="l00114"></a>00114 <span class="comment"></span>
<a name="l00115"></a>00115 <span class="comment"> /** Destructor</span>
<a name="l00116"></a>00116 <span class="comment"> */</span>
<a name="l00117"></a>00117 virtual ~CBoardENoses();
<a name="l00118"></a>00118 <span class="comment"></span>
<a name="l00119"></a>00119 <span class="comment"> /** Set the active chamber (afected by poluted air) on the device</span>
<a name="l00120"></a>00120 <span class="comment"> * \return true on success, false on communications errors or device not found.</span>
<a name="l00121"></a>00121 <span class="comment"> */</span>
<a name="l00122"></a>00122 <span class="keywordtype">bool</span> setActiveChamber( <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> chamber );
<a name="l00123"></a>00123 <span class="comment"></span>
<a name="l00124"></a>00124 <span class="comment"> /** Query the firmware version on the device (can be used to test communications).</span>
<a name="l00125"></a>00125 <span class="comment"> * \return true on success, false on communications errors or device not found.</span>
<a name="l00126"></a>00126 <span class="comment"> */</span>
<a name="l00127"></a>00127 <span class="keywordtype">bool</span> queryFirmwareVersion( std::<span class="keywordtype">string</span> &out_firmwareVersion );
<a name="l00128"></a>00128 <span class="comment"></span>
<a name="l00129"></a>00129 <span class="comment"> /** Request the master eNose the latest readings from all the eNoses.</span>
<a name="l00130"></a>00130 <span class="comment"> * The output observation contains a valid timestamp and 3D positions if "loadConfig" has been called previously.</span>
<a name="l00131"></a>00131 <span class="comment"> * \return true if OK, false if there were any error.</span>
<a name="l00132"></a>00132 <span class="comment"> */</span>
<a name="l00133"></a>00133 <span class="keywordtype">bool</span> getObservation( mrpt::slam::<a class="code" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors.html" title="Declares a class derived from "CObservation" that represents a set of readings from gas sensors...">CObservationGasSensors</a> &outObservation );
<a name="l00134"></a>00134
<a name="l00135"></a>00135 <span class="comment"></span>
<a name="l00136"></a>00136 <span class="comment"> /** This method should be called periodically (at least at 1Hz to capture ALL the real-time data)</span>
<a name="l00137"></a>00137 <span class="comment"> * It is thread safe, i.e. you can call this from one thread, then to other methods from other threads.</span>
<a name="l00138"></a>00138 <span class="comment"> */</span>
<a name="l00139"></a>00139 <span class="keywordtype">void</span> doProcess();
<a name="l00140"></a>00140 <span class="comment"></span>
<a name="l00141"></a>00141 <span class="comment"> /** Tries to open the camera, after setting all the parameters with a call to loadConfig.</span>
<a name="l00142"></a>00142 <span class="comment"> * \exception This method must throw an exception with a descriptive message if some critical error is found.</span>
<a name="l00143"></a>00143 <span class="comment"> */</span>
<a name="l00144"></a>00144 virtual <span class="keywordtype">void</span> initialize();
<a name="l00145"></a>00145
<a name="l00146"></a>00146
<a name="l00147"></a>00147 <span class="comment"></span>
<a name="l00148"></a>00148 <span class="comment"> /** If not an empty string, will open that serial port, otherwise will try to open USB FTDI device "m_usbSerialNumber"</span>
<a name="l00149"></a>00149 <span class="comment"> * The default is an empty string. Example strings: "COM1", "ttyUSB0", ...</span>
<a name="l00150"></a>00150 <span class="comment"> */</span>
<a name="l00151"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_board_e_noses.html#ac0714e5a2ca2908239498349d160a261">00151</a> inline <span class="keywordtype">void</span> setSerialPort(const std::<span class="keywordtype">string</span> &port) { m_COM_port = port; }
<a name="l00152"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_board_e_noses.html#a5052a374b26c4a7843e8444956287b43">00152</a> <span class="keyword">inline</span> std<a class="code" href="classstd_1_1string.html" title="STL class.">::string</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_board_e_noses.html#a5052a374b26c4a7843e8444956287b43">getSerialPort</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_COM_port; }
<a name="l00153"></a>00153 <span class="comment"></span>
<a name="l00154"></a>00154 <span class="comment"> /** Set the serial port baud rate (default: 115200) */</span>
<a name="l00155"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_board_e_noses.html#aeae257c7ccb3a68622b44f900c921116">00155</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_board_e_noses.html#aeae257c7ccb3a68622b44f900c921116" title="Set the serial port baud rate (default: 115200)">setSerialPortBaud</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> baud) { m_COM_baud=baud; }
<a name="l00156"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_board_e_noses.html#a32e8cb547a997f4628935d42a5563570">00156</a> <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_board_e_noses.html#a32e8cb547a997f4628935d42a5563570">getSerialPortBaud</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_COM_baud; }
<a name="l00157"></a>00157
<a name="l00158"></a>00158
<a name="l00159"></a>00159 }; <span class="comment">// end of class</span>
<a name="l00160"></a>00160 } <span class="comment">// end of namespace</span>
<a name="l00161"></a>00161 } <span class="comment">// end of namespace</span>
<a name="l00162"></a>00162
<a name="l00163"></a>00163
<a name="l00164"></a>00164 <span class="preprocessor">#endif</span>
<a name="l00165"></a>00165 <span class="preprocessor"></span>
<a name="l00166"></a>00166
</pre></div></div>
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