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mrpt::hwdrivers::CHokuyoURG Class Reference


Detailed Description

This software driver implements the protocol SCIP-2.0 for interfacing HOKUYO URG, UTM and UXM laser scanners.

Refer to the wiki page for more details: http://www.mrpt.org/Example:HOKUYO_URG/UTM_Laser_Scanner

See also the application "rawlog-grabber" for a ready-to-use application to gather data from the scanner.

  PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
 -------------------------------------------------------
   [supplied_section_name]
    HOKUYO_motorSpeed_rpm=600
    //HOKUYO_HS_mode   = false    // Optional (un-comment line if used): Set/unset the High-sensitivity mode (not on all models/firmwares!)
    COM_port_WIN = COM3
    COM_port_LIN = ttyS0
    pose_x=0.21 // Laser range scaner 3D position in the robot (meters)
    pose_y=0
    pose_z=0.34
    pose_yaw=0  // Angles in degrees
    pose_pitch=0
    pose_roll=0
    //IP_DIR    =       192.168.0.10 // Uncommented this and "PORT_DIR" if the used HOKUYO is connected by Ethernet instead of USB
    //PORT_DIR = 10940

    // Optional: reduced FOV:
    // reduced_fov  = 25 // Deg

    // Optional: Exclusion zones to avoid the robot seeing itself:
    //exclusionZone1_x = 0.20 0.30 0.30 0.20
    //exclusionZone1_y = 0.20 0.30 0.30 0.20

    // Optional: Exclusion zones to avoid the robot seeing itself:
    //exclusionAngles1_ini = 20  // Deg
    //exclusionAngles1_end = 25  // Deg

Definition at line 70 of file CHokuyoURG.h.

#include <mrpt/hwdrivers/CHokuyoURG.h>

Inheritance diagram for mrpt::hwdrivers::CHokuyoURG:
Inheritance graph
[legend]

List of all members.

Classes

struct  TSensorInfo
 Used in CHokuyoURG::displayVersionInfo. More...

Public Member Functions

 CHokuyoURG ()
 Constructor.
virtual ~CHokuyoURG ()
 Destructor: turns the laser off.
void doProcessSimple (bool &outThereIsObservation, mrpt::slam::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)

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)
 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::CHokuyoURG for the possible parameters.

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.
mrpt::system::TTimeStamp m_timeStartTT

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)

Constructor & Destructor Documentation

mrpt::hwdrivers::CHokuyoURG::CHokuyoURG (  )

Constructor.

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

Destructor: turns the laser off.


Member Function Documentation

bool mrpt::hwdrivers::CHokuyoURG::assureBufferHasBytes ( const size_t  nDesiredBytes ) [private]

Assures a minimum number of bytes in the input buffer, reading from the serial port only if required.

Returns:
false if the number of bytes are not available, even after trying to fetch more data from the serial port.
bool mrpt::hwdrivers::CHokuyoURG::checkCOMisOpen (  ) [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".

bool mrpt::hwdrivers::CHokuyoURG::displaySensorInfo ( CHokuyoURG::TSensorInfo out_data = NULL ) [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".

Returns:
false on any error
bool mrpt::hwdrivers::CHokuyoURG::displayVersionInfo (  ) [private]

Ask to the device, and print to the debug stream, details about the firmware version,serial number,...

Returns:
false on any error
void mrpt::hwdrivers::CHokuyoURG::doProcessSimple ( bool &  outThereIsObservation,
mrpt::slam::CObservation2DRangeScan outObservation,
bool &  hardwareError 
) [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.

bool mrpt::hwdrivers::CHokuyoURG::enableSCIP20 (  ) [private]

Enables the SCIP2.0 protocol (this must be called at the very begining!).

Returns:
false on any error
const std::string mrpt::hwdrivers::CHokuyoURG::getSerialPort (  ) [inline]

Returns the currently set serial port.

See also:
setSerialPort

Definition at line 155 of file CHokuyoURG.h.

void mrpt::hwdrivers::CHokuyoURG::initialize (  ) [private, virtual]

Turns the laser on.

Reimplemented from mrpt::hwdrivers::CGenericSensor.

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

Implements mrpt::hwdrivers::CGenericSensor.

void mrpt::hwdrivers::CHokuyoURG::purgeBuffers (  )

Empties the RX buffers of the serial port.

bool mrpt::hwdrivers::CHokuyoURG::receiveResponse ( const char *  sentCmd_forEchoVerification,
char &  rcv_status0,
char &  rcv_status1,
char *  rcv_data,
int &  rcv_dataLength 
) [private]

Waits for a response from the device.

Returns:
false on any error
bool mrpt::hwdrivers::CHokuyoURG::setHighBaudrate (  ) [private]

Passes to 115200bps bitrate.

Returns:
false on any error
bool mrpt::hwdrivers::CHokuyoURG::setHighSensitivityMode ( bool  enabled )

Changes the high sensitivity mode (HS) (default: false)

Returns:
false on any error
void mrpt::hwdrivers::CHokuyoURG::setIPandPort ( const std::string &  ip,
const unsigned int &  port 
) [inline]

Set the ip direction and port to connect using Ethernet communication.

Definition at line 152 of file CHokuyoURG.h.

bool mrpt::hwdrivers::CHokuyoURG::setMotorSpeed ( int  motoSpeed_rpm ) [private]

Changes the motor speed in rpm's (default 600rpm)

Returns:
false on any error
void mrpt::hwdrivers::CHokuyoURG::setReducedFOV ( const double  fov ) [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 160 of file CHokuyoURG.h.

void mrpt::hwdrivers::CHokuyoURG::setSerialPort ( const std::string &  port_name ) [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 149 of file CHokuyoURG.h.

void mrpt::hwdrivers::CHokuyoURG::setVerbose ( bool  enable = true ) [inline]

Definition at line 167 of file CHokuyoURG.h.

bool mrpt::hwdrivers::CHokuyoURG::startScanningMode (  ) [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.

Returns:
false on any error
bool mrpt::hwdrivers::CHokuyoURG::switchLaserOff (  ) [private]

Switchs the laser off.

Returns:
false on any error
bool mrpt::hwdrivers::CHokuyoURG::switchLaserOn (  ) [private]

Switchs the laser on.

Returns:
false on any error
bool mrpt::hwdrivers::CHokuyoURG::turnOff (  ) [virtual]

Disables the scanning mode (this can be used to turn the device in low energy mode, if available)

Returns:
If everything works "true", or "false" if there is any error.

Implements mrpt::hwdrivers::C2DRangeFinderAbstract.

bool mrpt::hwdrivers::CHokuyoURG::turnOn (  ) [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.

Returns:
If everything works "true", or "false" if there is any error.

Implements mrpt::hwdrivers::C2DRangeFinderAbstract.


Member Data Documentation

std::string mrpt::hwdrivers::CHokuyoURG::m_com_port [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 177 of file CHokuyoURG.h.

Definition at line 48 of file CHokuyoURG.h.

High sensitivity [HS] mode (default: false)

Definition at line 56 of file CHokuyoURG.h.

Definition at line 185 of file CHokuyoURG.h.

std::string mrpt::hwdrivers::CHokuyoURG::m_ip_dir [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 179 of file CHokuyoURG.h.

The first and last ranges to consider from the scan.

Definition at line 48 of file CHokuyoURG.h.

The last sent measurement command (MDXXX), including the last 0x0A.

Definition at line 53 of file CHokuyoURG.h.

The motor speed (default=600rpm)

Definition at line 49 of file CHokuyoURG.h.

unsigned int mrpt::hwdrivers::CHokuyoURG::m_port_dir [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 180 of file CHokuyoURG.h.

Used to reduce artificially the interval of scan ranges.

Definition at line 175 of file CHokuyoURG.h.

Auxiliary buffer for readings.

Definition at line 51 of file CHokuyoURG.h.

The information gathered when the laser is first open.

Definition at line 183 of file CHokuyoURG.h.

The sensor 6D pose:

Definition at line 50 of file CHokuyoURG.h.

Definition at line 188 of file CHokuyoURG.h.

Time of the first data packet, for synchronization purposes.

Definition at line 187 of file CHokuyoURG.h.

Definition at line 55 of file CHokuyoURG.h.




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