mrpt::hwdrivers::CBoardENoses Class Reference

A class for interfacing an e-Noses via a FTDI USB link. More...

#include <mrpt/hwdrivers/CBoardENoses.h>

Inheritance diagram for mrpt::hwdrivers::CBoardENoses:

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Collaboration diagram for mrpt::hwdrivers::CBoardENoses:

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List of all members.

Public Member Functions
	CBoardENoses ()
	Constructor.
virtual	~CBoardENoses ()
	Destructor.
bool	queryFirmwareVersion (std::string &out_firmwareVersion)
	Query the firmware version on the device (can be used to test communications).
bool	getObservation (mrpt::slam::CObservationGasSensors &outObservation)
	Request the master eNose the latest readings from all the eNoses.
void	doProcess ()
	This method should be called periodically (at least at 1Hz to capture ALL the real-time data) It is thread safe, i.e.
virtual void	initialize ()
	Tries to open the camera, after setting all the parameters with a call to loadConfig.
Protected Member Functions
bool	checkConnectionAndConnect ()
	Tries to connect to the USB device (if disconnected).
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, for example, an ".ini" file, loading from the section "[iniSection]" (see utils::CConfigFileBase and derived classes) See hwdrivers::CBoardENoses for the possible parameters.
Protected Attributes
std::string	m_usbSerialNumber
	A copy of the device serial number (to open the USB FTDI chip).
std::string	m_sensorLabel
std::vector< float >	enose_poses_x
	The 3D pose of the master + N slave eNoses on the robot (meters & radians).
std::vector< float >	enose_poses_y
std::vector< float >	enose_poses_z
std::vector< float >	enose_poses_yaw
std::vector< float >	enose_poses_pitch
std::vector< float >	enose_poses_roll

Detailed Description

A class for interfacing an e-Noses via a FTDI USB link.

Implemented for the board v1.0 designed by 2007 @ ISA (University of Malaga).

  PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
 -------------------------------------------------------
   [supplied_section_name]
    USB_serialname=ENOSE001

    ; 3D position (in meters) of the master +slave eNoses
    enose_poses_x=<MASTER X> <SLAVE#1 X> <SLAVE#2 X> <SLAVE#3 X>...
    enose_poses_y=<MASTER Y> <SLAVE#1 Y> <SLAVE#2 Y> <SLAVE#3 Y>...
    enose_poses_z=<MASTER Z> <SLAVE#1 Z> <SLAVE#2 Z> <SLAVE#3 Z>...

    ; 3D pose angles (in degrees) of the master +slave eNoses
    enose_poses_yaw=<MASTER YAW> <SLAVE#1 YAW> <SLAVE#2 YAW> <SLAVE#3 YAW>...
    enose_poses_pitch=<MASTER PITCH> <SLAVE#1 PITCH> <SLAVE#2 PITCH> <SLAVE#3 PITCH>...
    enose_poses_roll=<MASTER ROLL> <SLAVE#1 ROLL> <SLAVE#2 ROLL> <SLAVE#3 ROLL>...

Definition at line 65 of file CBoardENoses.h.

Constructor & Destructor Documentation

mrpt::hwdrivers::CBoardENoses::CBoardENoses ( )

Constructor.

Parameters:

serialNumberUSBdevice

The serial number (text) of the device to open. The constructor will try to open the device. You can check if it failed calling "isOpen()".

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

Destructor.

Member Function Documentation

bool mrpt::hwdrivers::CBoardENoses::checkConnectionAndConnect ( ) [protected]

Tries to connect to the USB device (if disconnected).

Returns:: True on connection OK, false on error.

void mrpt::hwdrivers::CBoardENoses::doProcess ( ) [virtual]

This method should be called periodically (at least at 1Hz to capture ALL the real-time data) It is thread safe, i.e.

you can call this from one thread, then to other methods from other threads.

Implements mrpt::hwdrivers::CGenericSensor.

bool mrpt::hwdrivers::CBoardENoses::getObservation ( mrpt::slam::CObservationGasSensors & outObservation )

Request the master eNose the latest readings from all the eNoses.

The output observation contains a valid timestamp and 3D positions if "loadConfig" has been called previously.

Returns:: true if OK, false if there were any error.

virtual void mrpt::hwdrivers::CBoardENoses::initialize ( ) [virtual]

Tries to open the camera, after setting all the parameters with a call to loadConfig.

Exceptions:

This

method must throw an exception with a descriptive message if some critical error is found.

Reimplemented from mrpt::hwdrivers::CGenericSensor.

void mrpt::hwdrivers::CBoardENoses::loadConfig_sensorSpecific	(	const mrpt::utils::CConfigFileBase &	configSource,
		const std::string &	section
	)			`[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::CBoardENoses for the possible parameters.

Implements mrpt::hwdrivers::CGenericSensor.

bool mrpt::hwdrivers::CBoardENoses::queryFirmwareVersion ( std::string & out_firmwareVersion )

Query the firmware version on the device (can be used to test communications).