mrpt::hwdrivers::CHokuyoURG Class Reference

This software driver implements the protocol SCIP-2.0 for interfacing HOKUYO URG and UTM laser scanners. More...

#include <mrpt/hwdrivers/CHokuyoURG.h>

Inheritance diagram for mrpt::hwdrivers::CHokuyoURG:

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Collaboration diagram for mrpt::hwdrivers::CHokuyoURG:

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List of all members.

Classes
struct	TSensorInfo
	Used in CHokuyoURG::displayVersionInfo. More...
Public Member Functions
	CHokuyoURG ()
	Constructor.
virtual	~CHokuyoURG ()
	Destructor: turns the laser off.
void	doProcessSimple (bool &outThereIsObservation, mrpt::slam::CObservation2DRangeScan &outObservation, bool &hardwareError)
	Specific laser scanner "software drivers" must process here new data from the I/O stream, and, if a whole scan has arrived, return it.
bool	turnOn ()
	Enables the scanning mode (which may depend on the specific laser device); this must be called before asking for observations to assure that the protocol has been initializated.
bool	turnOff ()
	Disables the scanning mode (this can be used to turn the device in low energy mode, if available).
void	purgeBuffers ()
	Empties the RX buffers of the serial port.
void	setSerialPort (const std::string &port_name)
	If set to non-empty, the serial port will be attempted to be opened automatically when this class is first used to request data from the laser.
const std::string	getSerialPort ()
	Returns the currently set serial port.
void	setReducedFOV (const double fov)
	If called (before calling "turnOn"), the field of view of the laser is reduced to the given range (in radians), discarding the rest of measures.
void	setVerbose (bool enable=true)
Protected Member Functions
bool	checkCOMisOpen ()
	Returns true if there is a valid stream bound to the laser scanner, otherwise it first try to open the serial port "m_com_port".
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::CHokuyoURG for the possible parameters.
Protected Attributes
double	m_reduced_fov
	Used to reduce artificially the interval of scan ranges.
std::string	m_com_port
	If set to non-empty, the serial port will be attempted to be opened automatically when this class is first used to request data from the laser.
TSensorInfo	m_sensor_info
	The information gathered when the laser is first open.
bool	m_I_am_owner_serial_port
uint32_t	m_timeStartUI
	Time of the first data packet, for synchronization purposes.
mrpt::system::TTimeStamp	m_timeStartTT
std::string	m_sensorLabel
Private Member Functions
bool	enableSCIP20 ()
	Enables the SCIP2.0 protocol (this must be called at the very begining!).
bool	setHighBaudrate ()
	Passes to 115200bps bitrate.
bool	switchLaserOn ()
	Switchs the laser on.
bool	switchLaserOff ()
	Switchs the laser off.
bool	setMotorSpeed (int motoSpeed_rpm)
	Changes the motor speed in rpm's (default 600rpm).
bool	displayVersionInfo ()
	Ask to the device, and print to the debug stream, details about the firmware version,serial number,.
bool	displaySensorInfo (CHokuyoURG::TSensorInfo *out_data=NULL)
	Ask to the device, and print to the debug stream, details about the sensor model.
bool	startScanningMode ()
	Start the scanning mode, using parameters stored in the object (loaded from the .ini file) After this command the device will start to send scans until "switchLaserOff" is called.
void	initialize ()
	Turns the laser on.
bool	receiveResponse (const char sentCmd_forEchoVerification, char &rcv_status0, char &rcv_status1, char rcv_data, int &rcv_dataLength)
	Waits for a response from the device.
bool	assureBufferHasBytes (const size_t nDesiredBytes)
	Assures a minimum number of bytes in the input buffer, reading from the serial port only if required.
Private Attributes
int	m_firstRange
	The first and last ranges to consider from the scan.
int	m_lastRange
int	m_motorSpeed_rpm
	The motor speed (default=600rpm).
poses::CPose3D	m_sensorPose
	The sensor 6D pose:.
mrpt::utils::circular_buffer < uint8_t >	m_rx_buffer
	Auxiliary buffer for readings.
std::string	m_lastSentMeasCmd
	The last sent measurement command (MDXXX), including the last 0x0A.
bool	m_verbose

Detailed Description

This software driver implements the protocol SCIP-2.0 for interfacing HOKUYO URG and UTM laser scanners.

Refer to the wiki page for more details: http://www.mrpt.org/Example:HOKUYO_URG/UTM_Laser_Scanner

See also the application "rawlog-grabber" for a ready-to-use application to gather data from the scanner.

  PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
 -------------------------------------------------------
   [supplied_section_name]
    HOKUYO_motorSpeed_rpm=600
    COM_port_WIN = COM3
    COM_port_LIN = ttyS0
    pose_x=0.21 ; Laser range scaner 3D position in the robot (meters)
    pose_y=0
    pose_z=0.34
    pose_yaw=0  ; Angles in degrees
    pose_pitch=0
    pose_roll=0

    // Optional: reduced FOV:
    // reduced_fov  = 25 // Deg

    // Optional: Exclusion zones to avoid the robot seeing itself:
    //exclusionZone1_x = 0.20 0.30 0.30 0.20
    //exclusionZone1_y = 0.20 0.30 0.30 0.20

    // Optional: Exclusion zones to avoid the robot seeing itself:
    //exclusionAngles1_ini = 20  // Deg
    //exclusionAngles1_end = 25  // Deg

Definition at line 72 of file CHokuyoURG.h.

Constructor & Destructor Documentation

mrpt::hwdrivers::CHokuyoURG::CHokuyoURG ( )

Constructor.

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

Destructor: turns the laser off.

Member Function Documentation

bool mrpt::hwdrivers::CHokuyoURG::assureBufferHasBytes ( const size_t nDesiredBytes ) [private]

Assures a minimum number of bytes in the input buffer, reading from the serial port only if required.

Returns:: false if the number of bytes are not available, even after trying to fetch more data from the serial port.

bool mrpt::hwdrivers::CHokuyoURG::checkCOMisOpen ( ) [protected]

Returns true if there is a valid stream bound to the laser scanner, otherwise it first try to open the serial port "m_com_port".

bool mrpt::hwdrivers::CHokuyoURG::displaySensorInfo ( CHokuyoURG::TSensorInfo * out_data = NULL ) [private]

Ask to the device, and print to the debug stream, details about the sensor model.

It also optionally saves all the information in an user supplied data structure "out_data".

Returns:: false on any error

bool mrpt::hwdrivers::CHokuyoURG::displayVersionInfo ( ) [private]

Ask to the device, and print to the debug stream, details about the firmware version,serial number,.

..

Returns:: false on any error

void mrpt::hwdrivers::CHokuyoURG::doProcessSimple	(	bool &	outThereIsObservation,
		mrpt::slam::CObservation2DRangeScan &	outObservation,
		bool &	hardwareError
	)			`[virtual]`

Specific laser scanner "software drivers" must process here new data from the I/O stream, and, if a whole scan has arrived, return it.

This method will be typically called in a different thread than other methods, and will be called in a timely fashion.

Implements mrpt::hwdrivers::C2DRangeFinderAbstract.

bool mrpt::hwdrivers::CHokuyoURG::enableSCIP20 ( ) [private]

Enables the SCIP2.0 protocol (this must be called at the very begining!).

Returns:: false on any error

const std::string mrpt::hwdrivers::CHokuyoURG::getSerialPort ( ) [inline]

Returns the currently set serial port.

See also:: setSerialPort

Definition at line 200 of file CHokuyoURG.h.

void mrpt::hwdrivers::CHokuyoURG::initialize ( ) [private, virtual]

Turns the laser on.

Reimplemented from mrpt::hwdrivers::CGenericSensor.

void mrpt::hwdrivers::CHokuyoURG::loadConfig_sensorSpecific	(	const mrpt::utils::CConfigFileBase &	configSource,
		const std::string &	iniSection
	)			`[protected, 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) See hwdrivers::CHokuyoURG for the possible parameters.

Implements mrpt::hwdrivers::CGenericSensor.

void mrpt::hwdrivers::CHokuyoURG::purgeBuffers ( )

Empties the RX buffers of the serial port.

bool mrpt::hwdrivers::CHokuyoURG::receiveResponse	(	const char *	sentCmd_forEchoVerification,
		char &	rcv_status0,
		char &	rcv_status1,
		char *	rcv_data,
		int &	rcv_dataLength
	)			`[private]`

Waits for a response from the device.

Returns:: false on any error

bool mrpt::hwdrivers::CHokuyoURG::setHighBaudrate ( ) [private]

Passes to 115200bps bitrate.

Returns:: false on any error

bool mrpt::hwdrivers::CHokuyoURG::setMotorSpeed ( int motoSpeed_rpm ) [private]

Changes the motor speed in rpm's (default 600rpm).

Returns:: false on any error

void mrpt::hwdrivers::CHokuyoURG::setReducedFOV ( const double fov ) [inline]

If called (before calling "turnOn"), the field of view of the laser is reduced to the given range (in radians), discarding the rest of measures.

Call with "0" to disable this reduction again (the default).

Definition at line 205 of file CHokuyoURG.h.

void mrpt::hwdrivers::CHokuyoURG::setSerialPort ( const std::string & port_name ) [inline]

If set to non-empty, the serial port will be attempted to be opened automatically when this class is first used to request data from the laser.

Definition at line 197 of file CHokuyoURG.h.

void mrpt::hwdrivers::CHokuyoURG::setVerbose ( bool enable = true ) [inline]

Definition at line 207 of file CHokuyoURG.h.

bool mrpt::hwdrivers::CHokuyoURG::startScanningMode ( ) [private]

Start the scanning mode, using parameters stored in the object (loaded from the .ini file) After this command the device will start to send scans until "switchLaserOff" is called.

Returns:: false on any error

bool mrpt::hwdrivers::CHokuyoURG::switchLaserOff ( ) [private]

Switchs the laser off.

Returns:: false on any error

bool mrpt::hwdrivers::CHokuyoURG::switchLaserOn ( ) [private]

Switchs the laser on.

Returns:: false on any error

bool mrpt::hwdrivers::CHokuyoURG::turnOff ( ) [virtual]

Disables the scanning mode (this can be used to turn the device in low energy mode, if available).

Returns:: If everything works "true", or "false" if there is any error.

Implements mrpt::hwdrivers::C2DRangeFinderAbstract.

bool mrpt::hwdrivers::CHokuyoURG::turnOn ( ) [virtual]

Enables the scanning mode (which may depend on the specific laser device); this must be called before asking for observations to assure that the protocol has been initializated.