This software driver implements the protocol SCIP-2.0 for interfacing HOKUYO URG, UTM and UXM laser scanners (USB or Ethernet) Refer to the example code HOKUYO_laser_test and to example rawlog-grabber config files
See also the application "rawlog-grabber" for a ready-to-use application to gather data from the scanner.
Definition at line 65 of file CHokuyoURG.h.
#include <mrpt/hwdrivers/CHokuyoURG.h>
Classes | |
struct | TSensorInfo |
Used in CHokuyoURG::displayVersionInfo. More... | |
Public Types | |
enum | TSensorState { ssInitializing = 0 , ssWorking , ssError } |
The current state of the sensor. More... | |
typedef std::multimap< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > | TListObservations |
typedef std::pair< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > | TListObsPair |
Public Member Functions | |
CHokuyoURG () | |
Constructor. | |
virtual | ~CHokuyoURG () |
Destructor: turns the laser off. | |
void | doProcessSimple (bool &outThereIsObservation, mrpt::obs::CObservation2DRangeScan &outObservation, bool &hardwareError) |
Specific laser scanner "software drivers" must process here new data from the I/O stream, and, if a whole scan has arrived, return it. | |
bool | turnOn () |
Enables the scanning mode (which may depend on the specific laser device); this must be called before asking for observations to assure that the protocol has been initializated. | |
bool | turnOff () |
Disables the scanning mode (this can be used to turn the device in low energy mode, if available) | |
void | purgeBuffers () |
Empties the RX buffers of the serial port. | |
void | setSerialPort (const std::string &port_name) |
If set to non-empty, the serial port will be attempted to be opened automatically when this class is first used to request data from the laser. | |
void | setIPandPort (const std::string &ip, const unsigned int &port) |
Set the ip direction and port to connect using Ethernet communication. | |
const std::string | getSerialPort () |
Returns the currently set serial port. | |
void | setReducedFOV (const double fov) |
If called (before calling "turnOn"), the field of view of the laser is reduced to the given range (in radians), discarding the rest of measures. | |
bool | setHighSensitivityMode (bool enabled) |
Changes the high sensitivity mode (HS) (default: false) | |
void | setVerbose (bool enable=true) |
void | showPreview (bool enable=true) |
Enables GUI visualization in real-time. | |
void | bindIO (mrpt::utils::CStream *streamIO) |
Binds the object to a given I/O channel. | |
void | getObservation (bool &outThereIsObservation, mrpt::obs::CObservation2DRangeScan &outObservation, bool &hardwareError) |
Get the last observation from the sensor, if available, and unmarks it as being "the last one" (thus a new scan must arrive or subsequent calls will find no new observations). | |
void | doProcess () |
Main method for a CGenericSensor. | |
virtual const mrpt::hwdrivers::TSensorClassId * | GetRuntimeClass () const =0 |
TSensorState | getState () const |
The current state of the sensor | |
double | getProcessRate () const |
std::string | getSensorLabel () const |
void | setSensorLabel (const std::string &sensorLabel) |
void | enableVerbose (bool enabled=true) |
Enable or disable extra debug info dumped to std::cout during sensor operation. | |
bool | isVerboseEnabled () const |
void | loadConfig (const mrpt::utils::CConfigFileBase &configSource, const std::string §ion) |
Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific". | |
void | getObservations (TListObservations &lstObjects) |
Returns a list of enqueued objects, emptying it (thread-safe). | |
virtual void | setPathForExternalImages (const std::string &directory) |
Set the path where to save off-rawlog image files (will be ignored in those sensors where this is not applicable). | |
void | setExternalImageFormat (const std::string &ext) |
Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg". | |
void | setExternalImageJPEGQuality (const unsigned int quality) |
The quality of JPEG compression, when external images is enabled and the format is "jpg". | |
unsigned int | getExternalImageJPEGQuality () const |
Static Public Member Functions | |
static void | printf_debug (const char *frmt,...) |
Sends a formated text to "debugOut" if not NULL, or to cout otherwise. | |
static void | registerClass (const TSensorClassId *pNewClass) |
Register a class into the internal list of "CGenericSensor" descendents. | |
static CGenericSensor * | createSensor (const std::string &className) |
Creates a sensor by a name of the class. | |
static CGenericSensorPtr | createSensorPtr (const std::string &className) |
Just like createSensor, but returning a smart pointer to the newly created sensor object. | |
Protected Member Functions | |
bool | checkCOMisOpen () |
Returns true if there is a valid stream bound to the laser scanner, otherwise it first try to open the serial port "m_com_port". | |
void | loadConfig_sensorSpecific (const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection) |
See the class documentation at the top for expected parameters. | |
void | loadCommonParams (const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection) |
Should be call by derived classes at "loadConfig" (loads exclusion areas AND exclusion angles). | |
void | filterByExclusionAreas (mrpt::obs::CObservation2DRangeScan &obs) const |
Mark as invalid those points which (x,y) coordinates fall within the exclusion polygons. | |
void | filterByExclusionAngles (mrpt::obs::CObservation2DRangeScan &obs) const |
Mark as invalid those ranges in a set of forbiden angle ranges. | |
void | processPreview (const mrpt::obs::CObservation2DRangeScan &obs) |
Must be called inside the capture method to allow optional GUI preview of scans. | |
void | appendObservations (const std::vector< mrpt::utils::CSerializablePtr > &obj) |
This method must be called by derived classes to enqueue a new observation in the list to be returned by getObservations. | |
void | appendObservation (const mrpt::utils::CSerializablePtr &obj) |
Like appendObservations() but for just one observation. | |
Protected Attributes | |
double | m_reduced_fov |
Used to reduce artificially the interval of scan ranges. | |
std::string | m_com_port |
If set to non-empty, the serial port will be attempted to be opened automatically when this class is first used to request data from the laser. | |
std::string | m_ip_dir |
If set to non-empty and m_port_dir too, the program will try to connect to a Hokuyo using Ethernet communication. | |
unsigned int | m_port_dir |
If set to non-empty and m_ip_dir too, the program will try to connect to a Hokuyo using Ethernet communication. | |
TSensorInfo | m_sensor_info |
The information gathered when the laser is first open. | |
bool | m_I_am_owner_serial_port |
uint32_t | m_timeStartUI |
Time of the first data packet, for synchronization purposes. | |
int | m_timeStartSynchDelay |
Counter to discard to first few packets before setting the correspondence between device and computer timestamps. | |
mrpt::system::TTimeStamp | m_timeStartTT |
bool | m_disable_firmware_timestamp |
utils::CStream * | m_stream |
The I/O channel (will be NULL if not bound). | |
size_t | m_grab_decimation_counter |
Used when "m_grab_decimation" is enabled. | |
TSensorState | m_state |
std::string | m_path_for_external_images |
The path where to save off-rawlog images: empty means save images embedded in the rawlog. | |
std::string | m_external_images_format |
The extension ("jpg","gif","png",...) that determines the format of images saved externally. | |
unsigned int | m_external_images_jpeg_quality |
For JPEG images, the quality (default=95%). | |
Common settings to any sensor, loaded in "loadConfig" | |
double | m_process_rate |
See CGenericSensor. | |
size_t | m_max_queue_len |
See CGenericSensor. | |
size_t | m_grab_decimation |
If set to N>=2, only 1 out of N observations will be saved to m_objList. | |
std::string | m_sensorLabel |
See CGenericSensor. | |
Private Member Functions | |
bool | enableSCIP20 () |
Enables the SCIP2.0 protocol (this must be called at the very begining!). | |
bool | setHighBaudrate () |
Passes to 115200bps bitrate. | |
bool | switchLaserOn () |
Switchs the laser on. | |
bool | switchLaserOff () |
Switchs the laser off. | |
bool | setMotorSpeed (int motoSpeed_rpm) |
Changes the motor speed in rpm's (default 600rpm) | |
bool | displayVersionInfo () |
Ask to the device, and print to the debug stream, details about the firmware version,serial number,... | |
bool | displaySensorInfo (CHokuyoURG::TSensorInfo *out_data=NULL) |
Ask to the device, and print to the debug stream, details about the sensor model. | |
bool | startScanningMode () |
Start the scanning mode, using parameters stored in the object (loaded from the .ini file) After this command the device will start to send scans until "switchLaserOff" is called. | |
void | initialize () |
Turns the laser on. | |
bool | receiveResponse (const char *sentCmd_forEchoVerification, char &rcv_status0, char &rcv_status1, char *rcv_data, int &rcv_dataLength) |
Waits for a response from the device. | |
bool | assureBufferHasBytes (const size_t nDesiredBytes) |
Assures a minimum number of bytes in the input buffer, reading from the serial port only if required. | |
Private Attributes | |
int | m_firstRange |
int | m_lastRange |
The first and last ranges to consider from the scan. | |
int | m_motorSpeed_rpm |
The motor speed (default=600rpm) | |
poses::CPose3D | m_sensorPose |
The sensor 6D pose: | |
mrpt::utils::circular_buffer< uint8_t > | m_rx_buffer |
Auxiliary buffer for readings. | |
std::string | m_lastSentMeasCmd |
The last sent measurement command (MDXXX), including the last 0x0A. | |
bool | m_verbose |
bool | m_highSensMode |
High sensitivity [HS] mode (default: false) | |
mrpt::gui::CDisplayWindow3DPtr | m_win |
mrpt::obs::CObservation2DRangeScan | m_lastObservation |
bool | m_lastObservationIsNew |
bool | m_hardwareError |
synch::CCriticalSection | m_csChangeStream |
For being thread-safe. | |
synch::CCriticalSection | m_csLastObservation |
mrpt::obs::CObservation2DRangeScanPtr | m_nextObservation |
A dynamic object used as buffer in doProcess. | |
mrpt::obs::CObservation2DRangeScan::TListExclusionAreasWithRanges | m_lstExclusionPolys |
A list of optional exclusion polygons, in coordinates relative to the vehicle, that is, taking into account the "sensorPose". | |
std::vector< std::pair< double, double > > | m_lstExclusionAngles |
A list of pairs of angles <init,end> such as all sensor ranges falling in those forbiden angles will be marked as invalid. | |
bool | m_showPreview |
If true, shows a 3D window with a preview of the grabber data. | |
synch::CCriticalSection | m_csObjList |
The critical section for m_objList. | |
TListObservations | m_objList |
The queue of objects to be returned by getObservations. | |
Static Private Attributes | |
static std::map< std::string, const TSensorClassId * > | m_knownClasses |
Used in registerClass. | |
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inherited |
Definition at line 68 of file CGenericSensor.h.
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inherited |
Definition at line 69 of file CGenericSensor.h.
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inherited |
The current state of the sensor.
Enumerator | |
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ssInitializing | |
ssWorking | |
ssError |
Definition at line 74 of file CGenericSensor.h.
mrpt::hwdrivers::CHokuyoURG::CHokuyoURG | ( | ) |
Constructor.
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virtual |
Destructor: turns the laser off.
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inlineprotectedinherited |
Like appendObservations() but for just one observation.
Definition at line 146 of file CGenericSensor.h.
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protectedinherited |
This method must be called by derived classes to enqueue a new observation in the list to be returned by getObservations.
Passed objects must be created in dynamic memory and a smart pointer passed. Example of creation:
If several observations are passed at once in the vector, they'll be considered as a block regarding the grabbing decimation factor.
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private |
Assures a minimum number of bytes in the input buffer, reading from the serial port only if required.
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inherited |
Binds the object to a given I/O channel.
The stream object must not be deleted before the destruction of this class.
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protected |
Returns true if there is a valid stream bound to the laser scanner, otherwise it first try to open the serial port "m_com_port".
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staticinherited |
Creates a sensor by a name of the class.
Typically the user may want to create a smart pointer around the returned pointer, whis is made with:
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inlinestaticinherited |
Just like createSensor, but returning a smart pointer to the newly created sensor object.
Definition at line 179 of file CGenericSensor.h.
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private |
Ask to the device, and print to the debug stream, details about the sensor model.
It also optionally saves all the information in an user supplied data structure "out_data".
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private |
Ask to the device, and print to the debug stream, details about the firmware version,serial number,...
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virtualinherited |
Main method for a CGenericSensor.
Implements mrpt::hwdrivers::CGenericSensor.
Reimplemented in mrpt::hwdrivers::CLMS100Eth.
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virtual |
Specific laser scanner "software drivers" must process here new data from the I/O stream, and, if a whole scan has arrived, return it.
This method will be typically called in a different thread than other methods, and will be called in a timely fashion.
Implements mrpt::hwdrivers::C2DRangeFinderAbstract.
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private |
Enables the SCIP2.0 protocol (this must be called at the very begining!).
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inlineinherited |
Enable or disable extra debug info dumped to std::cout during sensor operation.
Default: disabled unless the environment variable "MRPT_HWDRIVERS_VERBOSE" is set to "1" during object creation.
Definition at line 92 of file CGenericSensor.h.
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protectedinherited |
Mark as invalid those ranges in a set of forbiden angle ranges.
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protectedinherited |
Mark as invalid those points which (x,y) coordinates fall within the exclusion polygons.
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inlineinherited |
Definition at line 233 of file CGenericSensor.h.
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inherited |
Get the last observation from the sensor, if available, and unmarks it as being "the last one" (thus a new scan must arrive or subsequent calls will find no new observations).
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inherited |
Returns a list of enqueued objects, emptying it (thread-safe).
The objects must be freed by the invoker.
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inlineinherited |
Definition at line 84 of file CGenericSensor.h.
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pure virtualinherited |
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inlineinherited |
Definition at line 86 of file CGenericSensor.h.
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inline |
Returns the currently set serial port.
Definition at line 189 of file CHokuyoURG.h.
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inlineinherited |
The current state of the sensor
Definition at line 82 of file CGenericSensor.h.
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privatevirtual |
Turns the laser on.
Reimplemented from mrpt::hwdrivers::CGenericSensor.
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inlineinherited |
Definition at line 93 of file CGenericSensor.h.
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protectedinherited |
Should be call by derived classes at "loadConfig" (loads exclusion areas AND exclusion angles).
This loads a sequence of vertices of a polygon given by its (x,y) coordinates relative to the vehicle, that is, taking into account the "sensorPose".
The number of zones is variable, but they must start at 1 and be consecutive.
This also loads any other common params (e.g. 'preview')
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inherited |
Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific".
This | method throws an exception with a descriptive message if some critical parameter is missing or has an invalid value. |
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protectedvirtual |
See the class documentation at the top for expected parameters.
Implements mrpt::hwdrivers::CGenericSensor.
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staticinherited |
Sends a formated text to "debugOut" if not NULL, or to cout otherwise.
Referenced by mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute().
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protectedinherited |
Must be called inside the capture method to allow optional GUI preview of scans.
void mrpt::hwdrivers::CHokuyoURG::purgeBuffers | ( | ) |
Empties the RX buffers of the serial port.
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private |
Waits for a response from the device.
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staticinherited |
Register a class into the internal list of "CGenericSensor" descendents.
Used internally in the macros DEFINE_GENERIC_SENSOR, etc...
Can be used as "CGenericSensor::registerClass( SENSOR_CLASS_ID(CMySensor) );" if building custom sensors outside mrpt libraries in user code.
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inlineinherited |
Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg".
Definition at line 225 of file CGenericSensor.h.
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inlineinherited |
The quality of JPEG compression, when external images is enabled and the format is "jpg".
Definition at line 230 of file CGenericSensor.h.
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private |
Passes to 115200bps bitrate.
bool mrpt::hwdrivers::CHokuyoURG::setHighSensitivityMode | ( | bool | enabled | ) |
Changes the high sensitivity mode (HS) (default: false)
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inline |
Set the ip direction and port to connect using Ethernet communication.
Definition at line 186 of file CHokuyoURG.h.
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private |
Changes the motor speed in rpm's (default 600rpm)
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inlinevirtualinherited |
Set the path where to save off-rawlog image files (will be ignored in those sensors where this is not applicable).
An empty string (the default value at construction) means to save images embedded in the rawlog, instead of on separate files.
std::exception | If the directory doesn't exists and cannot be created. |
Reimplemented in mrpt::hwdrivers::CCameraSensor, mrpt::hwdrivers::CKinect, mrpt::hwdrivers::COpenNI2_RGBD360, mrpt::hwdrivers::COpenNI2Sensor, and mrpt::hwdrivers::CSwissRanger3DCamera.
Definition at line 216 of file CGenericSensor.h.
References MRPT_UNUSED_PARAM.
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inline |
If called (before calling "turnOn"), the field of view of the laser is reduced to the given range (in radians), discarding the rest of measures.
Call with "0" to disable this reduction again (the default).
Definition at line 194 of file CHokuyoURG.h.
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inlineinherited |
Definition at line 87 of file CGenericSensor.h.
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inline |
If set to non-empty, the serial port will be attempted to be opened automatically when this class is first used to request data from the laser.
Definition at line 183 of file CHokuyoURG.h.
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inline |
Definition at line 201 of file CHokuyoURG.h.
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inlineinherited |
Enables GUI visualization in real-time.
Definition at line 95 of file C2DRangeFinderAbstract.h.
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private |
Start the scanning mode, using parameters stored in the object (loaded from the .ini file) After this command the device will start to send scans until "switchLaserOff" is called.
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private |
Switchs the laser off.
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private |
Switchs the laser on.
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virtual |
Disables the scanning mode (this can be used to turn the device in low energy mode, if available)
Implements mrpt::hwdrivers::C2DRangeFinderAbstract.
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virtual |
Enables the scanning mode (which may depend on the specific laser device); this must be called before asking for observations to assure that the protocol has been initializated.
Implements mrpt::hwdrivers::C2DRangeFinderAbstract.
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protected |
If set to non-empty, the serial port will be attempted to be opened automatically when this class is first used to request data from the laser.
Definition at line 211 of file CHokuyoURG.h.
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privateinherited |
For being thread-safe.
Definition at line 47 of file C2DRangeFinderAbstract.h.
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privateinherited |
Definition at line 47 of file C2DRangeFinderAbstract.h.
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privateinherited |
The critical section for m_objList.
Definition at line 104 of file CGenericSensor.h.
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protected |
Definition at line 224 of file CHokuyoURG.h.
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protectedinherited |
The extension ("jpg","gif","png",...) that determines the format of images saved externally.
Definition at line 130 of file CGenericSensor.h.
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protectedinherited |
For JPEG images, the quality (default=95%).
Definition at line 131 of file CGenericSensor.h.
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private |
Definition at line 81 of file CHokuyoURG.h.
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protectedinherited |
If set to N>=2, only 1 out of N observations will be saved to m_objList.
Definition at line 117 of file CGenericSensor.h.
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protectedinherited |
Used when "m_grab_decimation" is enabled.
Definition at line 122 of file CGenericSensor.h.
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privateinherited |
Definition at line 43 of file C2DRangeFinderAbstract.h.
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private |
High sensitivity [HS] mode (default: false)
Definition at line 89 of file CHokuyoURG.h.
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protected |
Definition at line 219 of file CHokuyoURG.h.
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protected |
If set to non-empty and m_port_dir too, the program will try to connect to a Hokuyo using Ethernet communication.
Definition at line 213 of file CHokuyoURG.h.
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staticprivateinherited |
Used in registerClass.
Definition at line 108 of file CGenericSensor.h.
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privateinherited |
Definition at line 41 of file C2DRangeFinderAbstract.h.
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privateinherited |
Definition at line 42 of file C2DRangeFinderAbstract.h.
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private |
The first and last ranges to consider from the scan.
Definition at line 81 of file CHokuyoURG.h.
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private |
The last sent measurement command (MDXXX), including the last 0x0A.
Definition at line 86 of file CHokuyoURG.h.
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privateinherited |
A list of pairs of angles <init,end> such as all sensor ranges falling in those forbiden angles will be marked as invalid.
Definition at line 52 of file C2DRangeFinderAbstract.h.
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privateinherited |
A list of optional exclusion polygons, in coordinates relative to the vehicle, that is, taking into account the "sensorPose".
Definition at line 51 of file C2DRangeFinderAbstract.h.
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protectedinherited |
See CGenericSensor.
Definition at line 116 of file CGenericSensor.h.
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private |
The motor speed (default=600rpm)
Definition at line 82 of file CHokuyoURG.h.
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privateinherited |
A dynamic object used as buffer in doProcess.
Definition at line 49 of file C2DRangeFinderAbstract.h.
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privateinherited |
The queue of objects to be returned by getObservations.
Definition at line 105 of file CGenericSensor.h.
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protectedinherited |
The path where to save off-rawlog images: empty means save images embedded in the rawlog.
Definition at line 129 of file CGenericSensor.h.
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protected |
If set to non-empty and m_ip_dir too, the program will try to connect to a Hokuyo using Ethernet communication.
Definition at line 214 of file CHokuyoURG.h.
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protectedinherited |
See CGenericSensor.
Definition at line 115 of file CGenericSensor.h.
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protected |
Used to reduce artificially the interval of scan ranges.
Definition at line 209 of file CHokuyoURG.h.
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private |
Auxiliary buffer for readings.
Definition at line 84 of file CHokuyoURG.h.
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protected |
The information gathered when the laser is first open.
Definition at line 217 of file CHokuyoURG.h.
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protectedinherited |
See CGenericSensor.
Definition at line 118 of file CGenericSensor.h.
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private |
The sensor 6D pose:
Definition at line 83 of file CHokuyoURG.h.
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privateinherited |
If true, shows a 3D window with a preview of the grabber data.
Definition at line 54 of file C2DRangeFinderAbstract.h.
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protectedinherited |
Definition at line 124 of file CGenericSensor.h.
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protectedinherited |
The I/O channel (will be NULL if not bound).
Definition at line 58 of file C2DRangeFinderAbstract.h.
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protected |
Counter to discard to first few packets before setting the correspondence between device and computer timestamps.
Definition at line 222 of file CHokuyoURG.h.
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protected |
Definition at line 223 of file CHokuyoURG.h.
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protected |
Time of the first data packet, for synchronization purposes.
Definition at line 221 of file CHokuyoURG.h.
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private |
Definition at line 88 of file CHokuyoURG.h.
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private |
Definition at line 90 of file CHokuyoURG.h.
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