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mrpt::hwdrivers::CGenericSensor Class Reference


Detailed Description

A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabber.

Derived classes should be designed with the following execution flow in mind:

Notice that there are helper methods for managing the internal list of objects (see CGenericSensor::appendObservation).

Class Factory: This is also a factory of derived classes, through the static method CGenericSensor::createSensor

For more details on RawLogGrabber refer to the wiki page: http://www.mrpt.org/Application:RawLogGrabber

Definition at line 77 of file CGenericSensor.h.

#include <mrpt/hwdrivers/CGenericSensor.h>

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

List of all members.

Classes

struct  CLASSINIT_GENERIC_SENSOR
 Auxiliary structure used for CSerializable runtime class ID support. 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

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)
 CGenericSensor ()
 Constructor.
virtual ~CGenericSensor ()
 Destructor.
void loadConfig (const mrpt::utils::CConfigFileBase &configSource, const std::string &section)
 Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific"

Exceptions:
Thismethod throws an exception with a descriptive message if some critical parameter is missing or has an invalid value.

virtual void initialize ()
 This method can or cannot be implemented in the derived class, depending on the need for it.
virtual void doProcess ()=0
 This method will be invoked at a minimum rate of "process_rate" (Hz)

Exceptions:
Thismethod must throw an exception with a descriptive message if some critical error is found.

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 registerClass (const TSensorClassId *pNewClass)
 Register a class into the internal list of "CGenericSensor" descendents.
static CGenericSensorcreateSensor (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

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.
virtual void loadConfig_sensorSpecific (const mrpt::utils::CConfigFileBase &configSource, const std::string &section)=0
 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)

Exceptions:
Thismethod must throw an exception with a descriptive message if some critical parameter is missing or has an invalid value.

Protected Attributes

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 Attributes

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.

Member Typedef Documentation

Definition at line 82 of file CGenericSensor.h.

Definition at line 83 of file CGenericSensor.h.


Member Enumeration Documentation

The current state of the sensor.

See also:
CGenericSensor::getState
Enumerator:
ssInitializing 
ssWorking 
ssError 

Definition at line 88 of file CGenericSensor.h.


Constructor & Destructor Documentation

mrpt::hwdrivers::CGenericSensor::CGenericSensor (  )

Constructor.

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

Destructor.


Member Function Documentation

void mrpt::hwdrivers::CGenericSensor::appendObservation ( const mrpt::utils::CSerializablePtr obj ) [inline, protected]

Like appendObservations() but for just one observation.

Definition at line 153 of file CGenericSensor.h.

void mrpt::hwdrivers::CGenericSensor::appendObservations ( const std::vector< mrpt::utils::CSerializablePtr > &  obj ) [protected]

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:

                                CObservationGPSPtr  o = CObservationGPSPtr( new CObservationGPS() );
                                o-> .... // Set data
                                appendObservation(o);

If several observations are passed at once in the vector, they'll be considered as a block regarding the grabbing decimation factor.

static CGenericSensor* mrpt::hwdrivers::CGenericSensor::createSensor ( const std::string &  className ) [static]

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:

Returns:
A pointer to a new class, or NULL if class name is unknown.
static CGenericSensorPtr mrpt::hwdrivers::CGenericSensor::createSensorPtr ( const std::string &  className ) [inline, static]

Just like createSensor, but returning a smart pointer to the newly created sensor object.

Definition at line 186 of file CGenericSensor.h.

virtual void mrpt::hwdrivers::CGenericSensor::doProcess (  ) [pure virtual]
unsigned int mrpt::hwdrivers::CGenericSensor::getExternalImageJPEGQuality (  ) const [inline]

Definition at line 239 of file CGenericSensor.h.

void mrpt::hwdrivers::CGenericSensor::getObservations ( TListObservations lstObjects )

Returns a list of enqueued objects, emptying it (thread-safe).

The objects must be freed by the invoker.

double mrpt::hwdrivers::CGenericSensor::getProcessRate (  ) const [inline]

Definition at line 98 of file CGenericSensor.h.

virtual const mrpt::hwdrivers::TSensorClassId* mrpt::hwdrivers::CGenericSensor::GetRuntimeClass (  ) const [pure virtual]
std::string mrpt::hwdrivers::CGenericSensor::getSensorLabel (  ) const [inline]

Definition at line 100 of file CGenericSensor.h.

TSensorState mrpt::hwdrivers::CGenericSensor::getState (  ) const [inline]

The current state of the sensor.

Definition at line 96 of file CGenericSensor.h.

virtual void mrpt::hwdrivers::CGenericSensor::initialize (  ) [inline, virtual]
void mrpt::hwdrivers::CGenericSensor::loadConfig ( const mrpt::utils::CConfigFileBase configSource,
const std::string &  section 
)

Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific"

Exceptions:
Thismethod throws an exception with a descriptive message if some critical parameter is missing or has an invalid value.

virtual void mrpt::hwdrivers::CGenericSensor::loadConfig_sensorSpecific ( const mrpt::utils::CConfigFileBase configSource,
const std::string &  section 
) [protected, pure virtual]
static void mrpt::hwdrivers::CGenericSensor::registerClass ( const TSensorClassId pNewClass ) [static]

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.

void mrpt::hwdrivers::CGenericSensor::setExternalImageFormat ( const std::string &  ext ) [inline]

Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg".

See also:
setPathForExternalImages, setExternalImageJPEGQuality

Definition at line 231 of file CGenericSensor.h.

void mrpt::hwdrivers::CGenericSensor::setExternalImageJPEGQuality ( const unsigned int  quality ) [inline]

The quality of JPEG compression, when external images is enabled and the format is "jpg".

See also:
setExternalImageFormat

Definition at line 236 of file CGenericSensor.h.

virtual void mrpt::hwdrivers::CGenericSensor::setPathForExternalImages ( const std::string &  directory ) [inline, virtual]

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.

Exceptions:
std::exceptionIf the directory doesn't exists and cannot be created.

Reimplemented in mrpt::hwdrivers::CCameraSensor, mrpt::hwdrivers::CKinect, and mrpt::hwdrivers::CSwissRanger3DCamera.

Definition at line 223 of file CGenericSensor.h.

void mrpt::hwdrivers::CGenericSensor::setSensorLabel ( const std::string &  sensorLabel ) [inline]

Definition at line 101 of file CGenericSensor.h.


Member Data Documentation

The critical section for m_objList.

Definition at line 112 of file CGenericSensor.h.

The extension ("jpg","gif","png",...) that determines the format of images saved externally.

See also:
setPathForExternalImages

Definition at line 137 of file CGenericSensor.h.

For JPEG images, the quality (default=95%).

Definition at line 138 of file CGenericSensor.h.

If set to N>=2, only 1 out of N observations will be saved to m_objList.

Definition at line 125 of file CGenericSensor.h.

Used when "m_grab_decimation" is enabled.

Definition at line 130 of file CGenericSensor.h.

std::map< std::string , const TSensorClassId *> mrpt::hwdrivers::CGenericSensor::m_knownClasses [static, private]

Used in registerClass.

Definition at line 116 of file CGenericSensor.h.

See CGenericSensor.

Definition at line 124 of file CGenericSensor.h.

The queue of objects to be returned by getObservations.

Definition at line 113 of file CGenericSensor.h.

The path where to save off-rawlog images: empty means save images embedded in the rawlog.

Definition at line 136 of file CGenericSensor.h.

See CGenericSensor.

Definition at line 123 of file CGenericSensor.h.

See CGenericSensor.

Definition at line 126 of file CGenericSensor.h.

Definition at line 132 of file CGenericSensor.h.




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