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CEnoseModular.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 CEnoseModular_H
11#define CEnoseModular_H
12
18
19
20namespace mrpt
21{
22 namespace hwdrivers
23 {
24 /** A class for interfacing an e-NoseModular via a FTDI USB link.
25 * Implemented for the Mdular board v1.0 designed by 2013 @ MAPIR (University of Malaga).
26 *
27 * \code
28 * PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
29 * -------------------------------------------------------
30 * [supplied_section_name]
31 * USB_serialname=ENOSE001 // USB FTDI pipe: will open only if COM_port_* are not set or empty
32 *
33 * COM_port_WIN = COM1 // Serial port to connect to.
34 * COM_port_LIN = ttyS0
35 *
36 * COM_baudRate = 115200
37 *
38 * ; 3D position (in meters) of the master +slave eNoses
39 * enose_poses_x=<MASTER X> <SLAVE#1 X> <SLAVE#2 X> <SLAVE#3 X>...
40 * enose_poses_y=<MASTER Y> <SLAVE#1 Y> <SLAVE#2 Y> <SLAVE#3 Y>...
41 * enose_poses_z=<MASTER Z> <SLAVE#1 Z> <SLAVE#2 Z> <SLAVE#3 Z>...
42 *
43 * ; 3D pose angles (in degrees) of the master +slave eNoses
44 * enose_poses_yaw=<MASTER YAW> <SLAVE#1 YAW> <SLAVE#2 YAW> <SLAVE#3 YAW>...
45 * enose_poses_pitch=<MASTER PITCH> <SLAVE#1 PITCH> <SLAVE#2 PITCH> <SLAVE#3 PITCH>...
46 * enose_poses_roll=<MASTER ROLL> <SLAVE#1 ROLL> <SLAVE#2 ROLL> <SLAVE#3 ROLL>...
47 *
48 * \endcode
49 *
50 * \ingroup mrpt_hwdrivers_grp
51 */
53 {
55
56 protected:
57 /** A copy of the device serial number (to open the USB FTDI chip)
58 */
59 std::string m_usbSerialNumber;
62
63 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"
64 unsigned int m_COM_baud; //!< Default=115200
65
66
67 // Only one of these two streams will be !=NULL and open for each specific eNose board!
68 /** FTDI comms pipe (when not in serial port mode) */
70 /** Serial port comms */
72
73 /** The 3D pose of the master + N slave eNoses on the robot (meters & radians) */
74 std::vector<float> enose_poses_x,enose_poses_y,enose_poses_z,enose_poses_yaw,enose_poses_pitch,enose_poses_roll;
75
76 /** Tries to connect to the USB device (if disconnected).
77 * \return NULL on error, otherwise a stream to be used for comms.
78 */
80
81 /** See the class documentation at the top for expected parameters */
83 const mrpt::utils::CConfigFileBase &configSource,
84 const std::string &section );
85
86 /** Purge the Serial/FTDI buffer */
88
89 public:
90 /** Constructor
91 * \param serialNumberUSBdevice The serial number (text) of the device to open.
92 * The constructor will try to open the device. You can check if it failed calling "isOpen()".
93 */
95
96 /** Destructor
97 */
98 virtual ~CEnoseModular();
99
100 /** Request the master eNose the latest readings from all the eNoses.
101 * The output observation contains a valid timestamp and 3D positions if "loadConfig" has been called previously.
102 * \return true if OK, false if there were any error.
103 */
105
106
107 // See docs in parent class
108 void doProcess();
109
110
111
112 /** If not an empty string, will open that serial port, otherwise will try to open USB FTDI device "m_usbSerialNumber"
113 * The default is an empty string. Example strings: "COM1", "ttyUSB0", ...
114 */
115 inline void setSerialPort(const std::string &port) { m_COM_port = port; }
116 inline std::string getSerialPort() const { return m_COM_port; }
117
118 /** Set the serial port baud rate (default: 115200) */
119 inline void setSerialPortBaud(unsigned int baud) { m_COM_baud=baud; }
120 inline unsigned int getSerialPortBaud() const { return m_COM_baud; }
121
122
123 }; // end of class
124 } // end of namespace
125} // end of namespace
126
127
128#endif
#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-NoseModular via a FTDI USB link.
Definition: CEnoseModular.h:53
bool getObservation(mrpt::obs::CObservationGasSensors &outObservation)
Request the master eNose the latest readings from all the eNoses.
CSerialPort * m_stream_SERIAL
Serial port comms.
Definition: CEnoseModular.h:71
mrpt::utils::CStream * checkConnectionAndConnect()
Tries to connect to the USB device (if disconnected).
std::vector< float > enose_poses_pitch
Definition: CEnoseModular.h:74
void purgeBuffers()
Purge the Serial/FTDI buffer.
void doProcess()
This method will be invoked at a minimum rate of "process_rate" (Hz)
std::string getSerialPort() const
CInterfaceFTDI * m_stream_FTDI
FTDI comms pipe (when not in serial port mode)
Definition: CEnoseModular.h:69
unsigned int getSerialPortBaud() const
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: CEnoseModular.h:64
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...
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: CEnoseModular.h:63
virtual ~CEnoseModular()
Destructor.
std::string m_usbSerialNumber
A copy of the device serial number (to open the USB FTDI chip)
Definition: CEnoseModular.h:59
void setSerialPortBaud(unsigned int baud)
Set the serial port baud rate (default: 115200)
mrpt::system::TTimeStamp initial_timestamp
Definition: CEnoseModular.h:60
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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