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CRaePID.h
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1/* +---------------------------------------------------------------------------+
2 | Mobile Robot Programming Toolkit (MRPT) |
3 | http://www.mrpt.org/ |
4 | |
5 | Copyright (c) 2005-2016, Individual contributors, see AUTHORS file |
6 | See: http://www.mrpt.org/Authors - All rights reserved. |
7 | Released under BSD License. See details in http://www.mrpt.org/License |
8 +---------------------------------------------------------------------------+ */
9#ifndef CRaePID_H
10#define CRaePID_H
11
16
17namespace mrpt
18{
19 namespace hwdrivers
20 {
21 /** This class implements a driver for the RAE Systems gas PhotoIonization Detector (PID) (Tested on a MiniRAE Lite)
22 * The sensor is accessed via a standard (or USB) serial port.
23 *
24 * Refer to the manufacturer website for details on this sensor: http://www.raesystems.com/products/minirae-lite
25 *
26 * \sa mrpt::obs::CObservationGasSensors
27 * \ingroup mrpt_hwdrivers_grp
28 */
30 {
32
33 private:
34 /** COM port name
35 */
36 std::string com_port;
38
39 /** COM port
40 */
42
43 /** Poses
44 */
45 float pose_x, pose_y, pose_z, pose_yaw, pose_pitch, pose_roll;
46
47 /** Returns true if the COM port is already open, or try to open it in other case.
48 * \return true if everything goes OK, or false if there are problems opening the port.
49 */
51
52 public:
53 /** Default constructor.
54 */
56 /** Default destructor.
57 */
58 virtual ~CRaePID(){COM.close();};
59
60 void doProcess();
61
63 const mrpt::utils::CConfigFileBase &configSource,
64 const std::string &section);
65
66 /** Get firmware version string.
67 */
68 std::string getFirmware();
69
70 /** Get model string.
71 */
72 std::string getModel();
73
74 /** Get serial number as a string.
75 */
76 std::string getSerialNumber();
77
78 /** Get name string.
79 */
80 std::string getName();
81
82 /** Switch power on or off (returns true if turned on).
83 */
85
86 /** Get full reading (see PID documentation). In the returned observation, each reding is saved as a separate e-nose
87 */
89
90 /** Get error status (true if an error was found). errorString shows the error code (see PID documentation)
91 */
92 bool errorStatus(std::string &errorString);
93
94 /** Get alarm limits
95 */
96 void getLimits(float &min, float &max);
97
98
99 }; // End of class def.
100
101 } // End of namespace
102} // End of namespace
103#endif
#define DEFINE_GENERIC_SENSOR(class_name)
This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...
A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabbe...
This class implements a driver for the RAE Systems gas PhotoIonization Detector (PID) (Tested on a Mi...
Definition: CRaePID.h:30
bool switchPower()
Switch power on or off (returns true if turned on).
void getLimits(float &min, float &max)
Get alarm limits.
bool tryToOpenTheCOM()
Returns true if the COM port is already open, or try to open it in other case.
std::string com_port
COM port name.
Definition: CRaePID.h:36
CRaePID()
Default constructor.
mrpt::obs::CObservationGasSensors getFullInfo()
Get full reading (see PID documentation).
CSerialPort COM
COM port.
Definition: CRaePID.h:41
void loadConfig_sensorSpecific(const mrpt::utils::CConfigFileBase &configSource, const std::string &section)
Loads specific configuration for the device from a given source of configuration parameters,...
std::string getName()
Get name string.
bool errorStatus(std::string &errorString)
Get error status (true if an error was found).
std::string getSerialNumber()
Get serial number as a string.
std::string getModel()
Get model string.
virtual ~CRaePID()
Default destructor.
Definition: CRaePID.h:58
void doProcess()
This method will be invoked at a minimum rate of "process_rate" (Hz)
std::string getFirmware()
Get firmware version string.
A communications serial port built as an implementation of a utils::CStream.
Definition: CSerialPort.h:44
void close()
Close the port.
Declares a class derived from "CObservation" that represents a set of readings from gas sensors.
This class allows loading and storing values and vectors of different types from a configuration text...
#define HWDRIVERS_IMPEXP
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.



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