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 CBoardDLMS_H 00030 #define CBoardDLMS_H 00031 00032 #include <mrpt/hwdrivers/CGenericSensor.h> 00033 #include <mrpt/hwdrivers/CInterfaceFTDIMessages.h> 00034 #include <mrpt/utils/CConfigFileBase.h> 00035 #include <mrpt/poses/CPose3D.h> 00036 00037 namespace mrpt 00038 { 00039 namespace hwdrivers 00040 { 00041 /** An interface to a custom board which interfaces two SICK laser scanners. 00042 * Implemented for the board v1.0 designed by 2008 @ ISA (University of Malaga). 00043 * 00044 * \code 00045 * PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS: 00046 * ------------------------------------------------------- 00047 * [DualLMS] 00048 * driver = CBoardDLMS 00049 * process_rate = 30 ; Hz 00050 * USB_serialname = DLMS-001 00051 * 00052 * mPose_x = 0 ; Master laser range scaner 6D position on the robot (meters) 00053 * mPose_y = 0 00054 * mPose_z = 0 00055 * mPose_yaw = 0 00056 * mPose_pitch = 0 00057 * mPose_roll = 0 00058 * 00059 * sPose_x = 0 ; Slave laser range scaner 6D position on the robot (meters) 00060 * sPose_y = 0 00061 * sPose_z = 0 00062 * sPose_yaw = 0 00063 * sPose_pitch = 0 00064 * sPose_roll = 0 00065 * \endcode 00066 * 00067 */ 00068 class HWDRIVERS_IMPEXP CBoardDLMS : public hwdrivers::CInterfaceFTDIMessages, public CGenericSensor 00069 { 00070 DEFINE_GENERIC_SENSOR(CBoardDLMS) 00071 protected: 00072 /** A copy of the device serial number (to open the USB FTDI chip) 00073 */ 00074 std::string m_usbSerialNumber; 00075 uint32_t m_timeStartUI; 00076 mrpt::system::TTimeStamp m_timeStartTT; 00077 00078 mrpt::poses::CPose3D m_mSensorPose, m_sSensorPose; 00079 00080 /** Tries to connect to the USB device (if disconnected). 00081 * \return True on connection OK, false on error. 00082 */ 00083 bool checkConnectionAndConnect(); 00084 00085 bool checkCRC( const std::vector<unsigned char> &frame ); 00086 00087 /** 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) 00088 * See hwdrivers::CBoardDLMS for the possible parameters 00089 */ 00090 void loadConfig_sensorSpecific( 00091 const mrpt::utils::CConfigFileBase &configSource, 00092 const std::string &iniSection ); 00093 00094 public: 00095 /** Constructor 00096 * \param serialNumberUSBdevice The serial number (text) of the device to open. 00097 * The constructor will try to open the device. You can check if it failed calling "isOpen()". 00098 */ 00099 CBoardDLMS( ); 00100 00101 /** Destructor 00102 */ 00103 virtual ~CBoardDLMS(); 00104 00105 /** This method should be called periodically (at least at 1Hz to capture ALL the real-time data) 00106 * It is thread safe, i.e. you can call this from one thread, then to other methods from other threads. 00107 * This method processes data from the GPS and update the object state accordingly. 00108 */ 00109 void doProcess(); 00110 00111 /** This method can or cannot be implemented in the derived class, depending on the need for it. 00112 * \exception This method must throw an exception with a descriptive message if some critical error is found. 00113 */ 00114 virtual void initialize(); 00115 00116 /** Query the firmware version on the device (can be used to test communications). 00117 * \return true on success, false on communications errors or device not found. 00118 */ 00119 bool queryFirmwareVersion( std::string &out_firmwareVersion ); 00120 00121 /** Send a command to the DLMS Board 00122 * \return true on success, false on communications errors or device not found. 00123 */ 00124 bool sendCommand( uint8_t command, std::vector<unsigned char> &response ); 00125 00126 bool queryTimeStamp( mrpt::system::TTimeStamp &tstamp ); 00127 00128 }; // end of class 00129 00130 } // end of namespace 00131 } // End of namespace 00132 00133 #endif
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