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CBoardDLMS.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 CBoardDLMS_H
11#define CBoardDLMS_H
12
16#include <mrpt/poses/CPose3D.h>
17
18namespace mrpt
19{
20 namespace hwdrivers
21 {
22 /** An interface to a custom board which interfaces two SICK laser scanners.
23 * Implemented for the board v1.0 designed by 2008 @ ISA (University of Malaga).
24 *
25 * \code
26 * PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
27 * -------------------------------------------------------
28 * [DualLMS]
29 * driver = CBoardDLMS
30 * process_rate = 30 ; Hz
31 * USB_serialname = DLMS-001
32 *
33 * mPose_x = 0 ; Master laser range scaner 6D position on the robot (meters)
34 * mPose_y = 0
35 * mPose_z = 0
36 * mPose_yaw = 0
37 * mPose_pitch = 0
38 * mPose_roll = 0
39 *
40 * sPose_x = 0 ; Slave laser range scaner 6D position on the robot (meters)
41 * sPose_y = 0
42 * sPose_z = 0
43 * sPose_yaw = 0
44 * sPose_pitch = 0
45 * sPose_roll = 0
46 * \endcode
47 *
48 * \ingroup mrpt_hwdrivers_grp
49 */
51 {
53 protected:
54 /** A copy of the device serial number (to open the USB FTDI chip)
55 */
56 std::string m_usbSerialNumber;
57 uint32_t m_timeStartUI;
59
61
62 /** Tries to connect to the USB device (if disconnected).
63 * \return True on connection OK, false on error.
64 */
66
67 bool checkCRC( const std::vector<unsigned char> &frame );
68
69 /** See the class documentation at the top for expected parameters */
71 const mrpt::utils::CConfigFileBase &configSource,
72 const std::string &iniSection );
73
74 public:
75 /** Constructor
76 * \param serialNumberUSBdevice The serial number (text) of the device to open.
77 * The constructor will try to open the device. You can check if it failed calling "isOpen()".
78 */
80
81 /** Destructor
82 */
83 virtual ~CBoardDLMS();
84
85 // See docs in parent class
86 void doProcess();
87
88 /** This method can or cannot be implemented in the derived class, depending on the need for it.
89 * \exception This method must throw an exception with a descriptive message if some critical error is found.
90 */
91 virtual void initialize();
92
93 /** Query the firmware version on the device (can be used to test communications).
94 * \return true on success, false on communications errors or device not found.
95 */
96 bool queryFirmwareVersion( std::string &out_firmwareVersion );
97
98 /** Send a command to the DLMS Board
99 * \return true on success, false on communications errors or device not found.
100 */
101 bool sendCommand( uint8_t command, std::vector<unsigned char> &response );
102
104
105 }; // end of class
106
107 } // end of namespace
108} // End of namespace
109
110#endif
#define DEFINE_GENERIC_SENSOR(class_name)
This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...
An interface to a custom board which interfaces two SICK laser scanners.
Definition: CBoardDLMS.h:51
mrpt::system::TTimeStamp m_timeStartTT
Definition: CBoardDLMS.h:58
bool checkConnectionAndConnect()
Tries to connect to the USB device (if disconnected).
bool sendCommand(uint8_t command, std::vector< unsigned char > &response)
Send a command to the DLMS Board.
void loadConfig_sensorSpecific(const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection)
See the class documentation at the top for expected parameters.
bool queryTimeStamp(mrpt::system::TTimeStamp &tstamp)
std::string m_usbSerialNumber
A copy of the device serial number (to open the USB FTDI chip)
Definition: CBoardDLMS.h:56
virtual ~CBoardDLMS()
Destructor.
bool checkCRC(const std::vector< unsigned char > &frame)
virtual void initialize()
This method can or cannot be implemented in the derived class, depending on the need for it.
void doProcess()
This method will be invoked at a minimum rate of "process_rate" (Hz)
mrpt::poses::CPose3D m_mSensorPose
Definition: CBoardDLMS.h:60
bool queryFirmwareVersion(std::string &out_firmwareVersion)
Query the firmware version on the device (can be used to test communications).
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 class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:73
This class allows loading and storing values and vectors of different types from a configuration text...
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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