00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2011 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 00029 #ifndef CBoardIR_H 00030 #define CBoardIR_H 00031 00032 #include <mrpt/slam/CObservationRange.h> 00033 #include <mrpt/poses/CPoint3D.h> 00034 #include <mrpt/hwdrivers/CSerialPort.h> 00035 #include <mrpt/utils/CDebugOutputCapable.h> 00036 #include <mrpt/hwdrivers/CGenericSensor.h> 00037 00038 namespace mrpt 00039 { 00040 namespace slam { class CObservationGPS; } 00041 00042 namespace hwdrivers 00043 { 00044 /** A parser of NMEA commands, for connecting to a GPS by a serial port. 00045 * This class also supports more advanced GPS equipped with RTK corrections. See the JAVAD/TopCon extra initialization parameters. 00046 * 00047 * \code 00048 * PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS: 00049 * ------------------------------------------------------- 00050 * [supplied_section_name] 00051 * COM_port_WIN = COM3 00052 * COM_port_LIN = ttyS0 00053 * baudRate = 4800 // The baudrate of the communications (typ. 4800 bauds) 00054 * pose_x = 0 // 3D position of the sensed point relative to the robot (meters) 00055 * pose_y = 0 00056 * pose_z = 0 00057 * customInit = // See below for possible values 00058 * 00059 * // The next parameters are optional and will be used only 00060 * // if customInit=="JAVAD" to enable/configure the usage of RTK corrections: 00061 * //JAVAD_rtk_src_port=/dev/ser/b 00062 * //JAVAD_rtk_src_baud=9600 00063 * //JAVAD_rtk_format=cmr 00064 * 00065 * \endcode 00066 * 00067 * - customInit: Custom commands to send, depending on the sensor. Valid values are: 00068 * - "": Empty string 00069 * - "JAVAD": JAVAD or TopCon devices. Extra initialization commands will be sent. 00070 * - "TopCon": A synonymous with "JAVAD". 00071 * 00072 * VERSIONS HISTORY: 00073 * -9/JUN/2006: First version (JLBC) 00074 * -4/JUN/2008: Added virtual methods for device-specific initialization commands. 00075 * -10/JUN/2008: Converted into CGenericSensor class (there are no inhirited classes anymore). 00076 */ 00077 class HWDRIVERS_IMPEXP CBoardIR : public utils::CDebugOutputCapable, public CGenericSensor 00078 { 00079 DEFINE_GENERIC_SENSOR(CBoardIR) 00080 00081 public: 00082 /** Constructor 00083 * \param BUFFER_LENGTH The size of the communications buffer (default value should be fine always) 00084 */ 00085 CBoardIR( int BUFFER_LENGTH = 13 ); 00086 00087 /** Destructor 00088 */ 00089 virtual ~CBoardIR(); 00090 00091 /** This method tries to get a set of range measurements from the IR sensors. 00092 * \param outObservation The output observation 00093 * \param outThereIsObservation Will be true if an observation was sucessfully received. 00094 * \param hardwareError Will be true if there's some important error, e.g. serial port can't be open. 00095 */ 00096 void getObservation( 00097 bool &outThereIsObservation, 00098 mrpt::slam::CObservationRange &outObservation, 00099 bool &hardwareError ); 00100 00101 /** This method should be called periodically (at least at 1Hz to capture ALL the real-time data) 00102 * It is thread safe, i.e. you can call this from one thread, then to other methods from other threads. 00103 * This method processes data from the GPS and update the object state accordingly. 00104 */ 00105 void doProcess(); 00106 00107 void setSerialPortName(const std::string &COM_port); //!< Set the serial port to use (COM1, ttyUSB0, etc). 00108 std::string getSerialPortName() const; //!< Get the serial port to use (COM1, ttyUSB0, etc). 00109 00110 protected: 00111 bool OnConnectionEstablished(); 00112 00113 CSerialPort m_COM; 00114 00115 poses::CPoint3D m_sensorPose; 00116 00117 std::string m_customInit; 00118 00119 /** The minimum range in meters (10cm). 00120 */ 00121 float m_minRange; 00122 00123 /** The maximum range in meters (80cm). 00124 */ 00125 float m_maxRange; 00126 00127 /** The poses of the IR: x[m] y[m] z[m] yaw[deg] pitch[deg] roll[deg] 00128 * Up to 6 devices, but you can put any number of devices (from 1 to 6). 00129 */ 00130 std::map<uint16_t,mrpt::math::TPose3D> m_IRPoses; 00131 00132 /** 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) 00133 * See hwdrivers::CGPSInterface for the possible parameters 00134 */ 00135 void loadConfig_sensorSpecific( 00136 const mrpt::utils::CConfigFileBase &configSource, 00137 const std::string &iniSection ); 00138 00139 private: 00140 std::string m_COMname; 00141 int m_COMbauds; 00142 00143 /** Returns true if the COM port is already open, or try to open it in other case. 00144 * \return true if everything goes OK, or false if there are problems opening the port. 00145 */ 00146 bool tryToOpenTheCOM(); 00147 00148 }; // end class 00149 00150 } // end namespace 00151 } // end namespace 00152 00153 #endif
Page generated by Doxygen 1.7.3 for MRPT 0.9.4 SVN:exported at Tue Jan 25 21:56:31 UTC 2011 |