mrpt::hwdrivers::CGenericSensor Class Reference

A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabber. More...

#include <mrpt/hwdrivers/CGenericSensor.h>

Inheritance diagram for mrpt::hwdrivers::CGenericSensor:

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Collaboration diagram for mrpt::hwdrivers::CGenericSensor:

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List of all members.

Classes

struct CLASSINIT_GENERIC_SENSOR

Auxiliary structure used for CSerializable runtime class ID support. More...

Public Types

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

Public Member Functions

virtual const
mrpt::hwdrivers::TSensorClassId * GetRuntimeClass () const =0

TSensorState getState () const

The current state of the sensor.

double getProcessRate () const

CGenericSensor ()

Constructor.

virtual ~CGenericSensor ()

Destructor.

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"

Exceptions:

This

method throws an exception with a descriptive message if some critical parameter is missing or has an invalid value.

virtual void initialize ()

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

virtual void doProcess ()=0

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.

void getObservations (TListObservations &lstObjects)

Returns a list of enqueued objects, emptying it (thread-safe).

Static Public Member Functions

static CGenericSensor * createSensor (const std::string &className)

Creates a sensor by a name of the class.

static CGenericSensorPtr createSensorPtr (const std::string &className)

Just like createSensor, but returning a smart pointer to the newly created sensor object.

Protected Member Functions

void appendObservation (const 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.

virtual void loadConfig_sensorSpecific (const mrpt::utils::CConfigFileBase &configSource, const std::string &section)=0

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)

Exceptions:

This

method must throw an exception with a descriptive message if some critical parameter is missing or has an invalid value.

Static Protected Member Functions

static void registerClass (const TSensorClassId *pNewClass)

Register a class into the internal list of "CGenericSensor" descendents.

Protected Attributes

double m_process_rate

See CGenericSensor.

size_t m_max_queue_len

See CGenericSensor.

size_t m_grab_decimation

If set to N>=2, only 1 out of N observations will be saved to m_objList.

size_t m_grab_decimation_counter

Used when "m_grab_decimation" is enabled.

TSensorState

m_state

Private Attributes

synch::CCriticalSection

m_csObjList

The critical section for m_objList.

TListObservations

m_objList

The queue of objects to be returned by getObservations.

Static Private Attributes

static std::map< std::string,
const TSensorClassId * > m_knownClasses

Used in registerClass.

Detailed Description

A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabber.

Derived classes should be designed with the following execution flow in mind:

Object constructor
CGenericSensor::loadConfig: The following parameters are common to all sensors in rawlog-grabber (they are automatically loaded by rawlog-grabber) - see each class documentation for additional parameters:
- "process_rate": (Mandatory) The rate in Hertz (Hz) at which the sensor thread should invoke "doProcess".
- "max_queue_len": (Optional) The maximum number of objects in the observations queue (default is 200). If overflow occurs, an error message will be issued at run-time.
- "grab_decimation": (Optional) Grab only 1 out of N observations captured by the sensor (default is 1, i.e. do not decimate).
CGenericSensor::initialize
CGenericSensor::doProcess
CGenericSensor::getObservations

Notice that there are helper methods for managing the internal list of objects (see CGenericSensor::appendObservation).

Class Factory: This is also a factory of derived classes, through the static method CGenericSensor::createSensor

For more details on RawLogGrabber refer to the wiki page: http://www.mrpt.org/Application:RawLogGrabber

Definition at line 77 of file CGenericSensor.h.

Member Typedef Documentation

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

Definition at line 82 of file CGenericSensor.h.

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

Definition at line 83 of file CGenericSensor.h.

Member Enumeration Documentation

enum mrpt::hwdrivers::CGenericSensor::TSensorState

The current state of the sensor.

See also:: CGenericSensor::getState

Enumerator:

ssInitializing
ssWorking
ssError

Definition at line 88 of file CGenericSensor.h.

Constructor & Destructor Documentation

mrpt::hwdrivers::CGenericSensor::CGenericSensor ( )

Constructor.

virtual mrpt::hwdrivers::CGenericSensor::~CGenericSensor ( ) [virtual]

Destructor.

Member Function Documentation

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

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:

                                CObservationGPSPtr  o = CObservationGPSPtr( new CObservationGPS() );
                                o-> .... // Set data
                                appendObservation(o);

static CGenericSensor* mrpt::hwdrivers::CGenericSensor::createSensor ( const std::string & className ) [static]

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.

static CGenericSensorPtr mrpt::hwdrivers::CGenericSensor::createSensorPtr ( const std::string & className ) [inline, static]

Just like createSensor, but returning a smart pointer to the newly created sensor object.

Definition at line 166 of file CGenericSensor.h.

virtual void mrpt::hwdrivers::CGenericSensor::doProcess ( ) [pure 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.

Implemented in mrpt::hwdrivers::C2DRangeFinderAbstract, mrpt::hwdrivers::CActivMediaRobotBase, mrpt::hwdrivers::CBoardDLMS, mrpt::hwdrivers::CBoardENoses, mrpt::hwdrivers::CBoardIR, mrpt::hwdrivers::CBoardSonars, mrpt::hwdrivers::CCameraSensor, mrpt::hwdrivers::CGPSInterface, mrpt::hwdrivers::CIMUXSens, mrpt::hwdrivers::CNTRIPEmitter, mrpt::hwdrivers::CPtuHokuyo, and mrpt::hwdrivers::CSwissRanger3DCamera.

void mrpt::hwdrivers::CGenericSensor::getObservations ( TListObservations & lstObjects )

Returns a list of enqueued objects, emptying it (thread-safe).

The objects must be freed by the invoker.

double mrpt::hwdrivers::CGenericSensor::getProcessRate ( ) const [inline]

Definition at line 98 of file CGenericSensor.h.

virtual const mrpt::hwdrivers::TSensorClassId* mrpt::hwdrivers::CGenericSensor::GetRuntimeClass ( ) const [pure virtual]

TSensorState mrpt::hwdrivers::CGenericSensor::getState ( ) const [inline]

The current state of the sensor.

Definition at line 96 of file CGenericSensor.h.

virtual void mrpt::hwdrivers::CGenericSensor::initialize ( ) [inline, virtual]

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.

Reimplemented in mrpt::hwdrivers::CActivMediaRobotBase, mrpt::hwdrivers::CBoardDLMS, mrpt::hwdrivers::CBoardENoses, mrpt::hwdrivers::CCameraSensor, mrpt::hwdrivers::CHokuyoURG, mrpt::hwdrivers::CIMUXSens, mrpt::hwdrivers::CNTRIPEmitter, mrpt::hwdrivers::CPtuHokuyo, mrpt::hwdrivers::CSickLaserSerial, and mrpt::hwdrivers::CSwissRanger3DCamera.

Definition at line 187 of file CGenericSensor.h.

void mrpt::hwdrivers::CGenericSensor::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"

Exceptions:

This

method throws an exception with a descriptive message if some critical parameter is missing or has an invalid value.

virtual void mrpt::hwdrivers::CGenericSensor::loadConfig_sensorSpecific	(	const mrpt::utils::CConfigFileBase &	configSource,
		const std::string &	section
	)			`[protected, pure virtual]`

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)

Exceptions:

This

method must throw an exception with a descriptive message if some critical parameter is missing or has an invalid value.

Implemented in mrpt::hwdrivers::CActivMediaRobotBase, mrpt::hwdrivers::CBoardDLMS, mrpt::hwdrivers::CBoardENoses, mrpt::hwdrivers::CBoardIR, mrpt::hwdrivers::CBoardSonars, mrpt::hwdrivers::CCameraSensor, mrpt::hwdrivers::CGPSInterface, mrpt::hwdrivers::CHokuyoURG, mrpt::hwdrivers::CIMUXSens, mrpt::hwdrivers::CLMS100Eth, mrpt::hwdrivers::CNTRIPEmitter, mrpt::hwdrivers::CPtuHokuyo, mrpt::hwdrivers::CSickLaserSerial, mrpt::hwdrivers::CSickLaserUSB, and mrpt::hwdrivers::CSwissRanger3DCamera.