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CBoardENoses.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
10#ifndef CBoardENoses_H
11#define CBoardENoses_H
12
16
19
20
21namespace mrpt
22{
23 namespace hwdrivers
24 {
25 /** A class for interfacing an e-Noses via a FTDI USB link.
26 * Implemented for the board v1.0 designed by 2007 @ ISA (University of Malaga).
27 *
28 * \code
29 * PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
30 * -------------------------------------------------------
31 * [supplied_section_name]
32 * USB_serialname=ENOSE001 // USB FTDI pipe: will open only if COM_port_* are not set or empty
33 *
34 * COM_port_WIN = COM1 // Serial port to connect to.
35 * COM_port_LIN = ttyS0
36 *
37 * COM_baudRate = 115200
38 *
39 * ; 3D position (in meters) of the master +slave eNoses
40 * enose_poses_x=<MASTER X> <SLAVE#1 X> <SLAVE#2 X> <SLAVE#3 X>...
41 * enose_poses_y=<MASTER Y> <SLAVE#1 Y> <SLAVE#2 Y> <SLAVE#3 Y>...
42 * enose_poses_z=<MASTER Z> <SLAVE#1 Z> <SLAVE#2 Z> <SLAVE#3 Z>...
43 *
44 * ; 3D pose angles (in degrees) of the master +slave eNoses
45 * enose_poses_yaw=<MASTER YAW> <SLAVE#1 YAW> <SLAVE#2 YAW> <SLAVE#3 YAW>...
46 * enose_poses_pitch=<MASTER PITCH> <SLAVE#1 PITCH> <SLAVE#2 PITCH> <SLAVE#3 PITCH>...
47 * enose_poses_roll=<MASTER ROLL> <SLAVE#1 ROLL> <SLAVE#2 ROLL> <SLAVE#3 ROLL>...
48 *
49 * \endcode
50 *
51 * \ingroup mrpt_hwdrivers_grp
52 */
54 {
56
57 protected:
58 /** A copy of the device serial number (to open the USB FTDI chip)
59 */
60 std::string m_usbSerialNumber;
63
64 std::string m_COM_port; //!< If not an empty string (default), will open that serial port, otherwise will try to open USB FTDI device "m_usbSerialNumber"
65 unsigned int m_COM_baud; //!< Default=115200
66
67
68 // Only one of these two streams will be !=NULL and open for each specific eNose board!
69 /** FTDI comms pipe (when not in serial port mode) */
71 /** Serial port comms */
73
74 /** The 3D pose of the master + N slave eNoses on the robot (meters & radians) */
75 std::vector<float> enose_poses_x,enose_poses_y,enose_poses_z,enose_poses_yaw,enose_poses_pitch,enose_poses_roll;
76
77 /** Tries to connect to the USB device (if disconnected).
78 * \return NULL on error, otherwise a stream to be used for comms.
79 */
81
82 /** See the class documentation at the top for expected parameters */
84 const mrpt::utils::CConfigFileBase &configSource,
85 const std::string &section );
86
87 public:
88 /** Constructor
89 * \param serialNumberUSBdevice The serial number (text) of the device to open.
90 * The constructor will try to open the device. You can check if it failed calling "isOpen()".
91 */
93
94 /** Destructor
95 */
96 virtual ~CBoardENoses();
97
98 /** Set the active chamber (afected by poluted air) on the device
99 * \return true on success, false on communications errors or device not found.
100 */
101 bool setActiveChamber( unsigned char chamber );
102
103 /** Query the firmware version on the device (can be used to test communications).
104 * \return true on success, false on communications errors or device not found.
105 */
106 bool queryFirmwareVersion( std::string &out_firmwareVersion );
107
108 /** Request the master eNose the latest readings from all the eNoses.
109 * The output observation contains a valid timestamp and 3D positions if "loadConfig" has been called previously.
110 * \return true if OK, false if there were any error.
111 */
113
114
115 // See docs in parent class
116 void doProcess();
117
118 /** Tries to open the camera, after setting all the parameters with a call to loadConfig.
119 * \exception This method must throw an exception with a descriptive message if some critical error is found.
120 */
121 virtual void initialize();
122
123
124
125 /** If not an empty string, will open that serial port, otherwise will try to open USB FTDI device "m_usbSerialNumber"
126 * The default is an empty string. Example strings: "COM1", "ttyUSB0", ...
127 */
128 inline void setSerialPort(const std::string &port) { m_COM_port = port; }
129 inline std::string getSerialPort() const { return m_COM_port; }
130
131 /** Set the serial port baud rate (default: 115200) */
132 inline void setSerialPortBaud(unsigned int baud) { m_COM_baud=baud; }
133 inline unsigned int getSerialPortBaud() const { return m_COM_baud; }
134
135
136 }; // end of class
137 } // end of namespace
138} // end of namespace
139
140
141#endif
142
143
#define DEFINE_GENERIC_SENSOR(class_name)
This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...
A class for interfacing an e-Noses via a FTDI USB link.
Definition: CBoardENoses.h:54
std::string getSerialPort() const
Definition: CBoardENoses.h:129
bool queryFirmwareVersion(std::string &out_firmwareVersion)
Query the firmware version on the device (can be used to test communications).
void doProcess()
This method will be invoked at a minimum rate of "process_rate" (Hz)
std::string m_COM_port
If not an empty string (default), will open that serial port, otherwise will try to open USB FTDI dev...
Definition: CBoardENoses.h:64
mrpt::utils::CStream * checkConnectionAndConnect()
Tries to connect to the USB device (if disconnected).
std::vector< float > enose_poses_pitch
Definition: CBoardENoses.h:75
bool setActiveChamber(unsigned char chamber)
Set the active chamber (afected by poluted air) on the device.
void loadConfig_sensorSpecific(const mrpt::utils::CConfigFileBase &configSource, const std::string &section)
See the class documentation at the top for expected parameters.
unsigned int m_COM_baud
Default=115200.
Definition: CBoardENoses.h:65
virtual void initialize()
Tries to open the camera, after setting all the parameters with a call to loadConfig.
bool getObservation(mrpt::obs::CObservationGasSensors &outObservation)
Request the master eNose the latest readings from all the eNoses.
std::string m_usbSerialNumber
A copy of the device serial number (to open the USB FTDI chip)
Definition: CBoardENoses.h:60
mrpt::system::TTimeStamp initial_timestamp
Definition: CBoardENoses.h:61
virtual ~CBoardENoses()
Destructor.
CInterfaceFTDI * m_stream_FTDI
FTDI comms pipe (when not in serial port mode)
Definition: CBoardENoses.h:70
CSerialPort * m_stream_SERIAL
Serial port comms.
Definition: CBoardENoses.h:72
void setSerialPort(const std::string &port)
If not an empty string, will open that serial port, otherwise will try to open USB FTDI device "m_usb...
Definition: CBoardENoses.h:128
unsigned int getSerialPortBaud() const
Definition: CBoardENoses.h:133
void setSerialPortBaud(unsigned int baud)
Set the serial port baud rate (default: 115200)
Definition: CBoardENoses.h:132
A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabbe...
A definition of a CStream actually representing a USB connection to a FTDI chip.
A communications serial port built as an implementation of a utils::CStream.
Definition: CSerialPort.h:44
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...
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
Definition: CStream.h:39
uint64_t TTimeStamp
A system independent time type, it holds the the number of 100-nanosecond intervals since January 1,...
Definition: datetime.h:30
#define HWDRIVERS_IMPEXP
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.



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