This "software driver" implements the communication protocol for interfacing a Ultrasonic range finder SRF10 through a custom USB board.
In this class the "bind" is ignored since it is designed for USB connections only, thus it internally generate the required object for simplicity of use. The serial number of the USB device is used to open it on the first call to "doProcess", thus you must call "loadConfig" before this, or manually call "setDeviceSerialNumber". The default serial number is "SONAR001"
Warning: Avoid defining an object of this class in a global scope if you want to catch all potential exceptions during the constructors (like USB interface DLL not found, etc...)
Definition at line 50 of file CBoardSonars.h.
#include <mrpt/hwdrivers/CBoardSonars.h>
Public Types | |
enum | TSeekOrigin { sFromBeginning = 0, sFromCurrent = 1, sFromEnd = 2 } |
Used in CStream::Seek. More... | |
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 | |||
CBoardSonars () | |||
Constructor. More... | |||
virtual | ~CBoardSonars () | ||
Destructor. More... | |||
bool | queryFirmwareVersion (std::string &out_firmwareVersion) | ||
Query the firmware version on the device (can be used to test communications). More... | |||
bool | getObservation (mrpt::obs::CObservationRange &obs) | ||
Request the latest range measurements. More... | |||
bool | programI2CAddress (uint8_t currentAddress, uint8_t newAddress) | ||
Requests a command of "change address" for a given SRF10 device. More... | |||
void | doProcess () | ||
This method will be invoked at a minimum rate of "process_rate" (Hz)
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bool | isOpen () | ||
Checks whether the chip has been successfully open. More... | |||
void | OpenBySerialNumber (const std::string &serialNumber) | ||
Open by device serial number. More... | |||
void | OpenByDescription (const std::string &description) | ||
Open by device description. More... | |||
void | Close () | ||
Close the USB device. More... | |||
void | ResetDevice () | ||
Reset the USB device. More... | |||
void | Purge () | ||
Purge the I/O buffers. More... | |||
void | SetLatencyTimer (unsigned char latency_ms) | ||
Change the latency timer (in milliseconds) implemented on the FTDI chip: for a few ms, data is not sent to the PC waiting for possible more data, to save USB trafic. More... | |||
void | SetTimeouts (unsigned long dwReadTimeout_ms, unsigned long dwWriteTimeout_ms) | ||
Change read & write timeouts, in milliseconds. More... | |||
void | ListAllDevices (TFTDIDeviceList &outList) | ||
Generates a list with all FTDI devices connected right now. More... | |||
size_t | ReadSync (void *Buffer, size_t Count) | ||
Tries to read, raising no exception if not all the bytes are available, but raising one if there is some communication error. More... | |||
size_t | WriteSync (const void *Buffer, size_t Count) | ||
Tries to write, raising no exception if not all the bytes are available, but raising one if there is some communication error. More... | |||
virtual size_t | ReadBufferImmediate (void *Buffer, size_t Count) | ||
Reads a block of bytes from the stream into Buffer, and returns the amound of bytes actually read, without waiting for more extra bytes to arrive (just those already enqued in the stream). More... | |||
virtual uint64_t | Seek (uint64_t Offset, CStream::TSeekOrigin Origin=sFromBeginning)=0 | ||
Introduces a pure virtual method for moving to a specified position in the streamed resource. More... | |||
size_t | ReadBuffer (void *Buffer, size_t Count) | ||
Reads a block of bytes from the stream into Buffer
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template<typename T > | |||
size_t | ReadBufferFixEndianness (T *ptr, size_t ElementCount) | ||
Reads a sequence of elemental datatypes, taking care of reordering their bytes from the MRPT stream standard (little endianness) to the format of the running architecture. More... | |||
void | WriteBuffer (const void *Buffer, size_t Count) | ||
Writes a block of bytes to the stream from Buffer. More... | |||
template<typename T > | |||
void | WriteBufferFixEndianness (const T *ptr, size_t ElementCount) | ||
Writes a sequence of elemental datatypes, taking care of reordering their bytes from the running architecture to MRPT stream standard (little endianness). More... | |||
size_t | CopyFrom (mrpt::utils::CStream *Source, size_t Count) | ||
Copies a specified number of bytes from one stream to another. More... | |||
void | WriteObject (const CSerializable *o) | ||
Writes an object to the stream. More... | |||
CSerializablePtr | ReadObject () | ||
Reads an object from stream, its class determined at runtime, and returns a smart pointer to the object. More... | |||
void | ReadObject (CSerializable *existingObj) | ||
Reads an object from stream, where its class must be the same as the supplied object, where the loaded object will be stored in. More... | |||
CStream & | operator<< (const CSerializablePtr &pObj) | ||
Write an object to a stream in the binary MRPT format. More... | |||
CStream & | operator<< (const CSerializable &obj) | ||
Write an object to a stream in the binary MRPT format. More... | |||
CStream & | operator>> (CSerializablePtr &pObj) | ||
CStream & | operator>> (CSerializable &obj) | ||
virtual int | printf (const char *fmt,...) MRPT_printf_format_check(2 | ||
Writes a string to the stream in a textual form. More... | |||
template<typename T > | |||
virtual int void | printf_vector (const char *fmt, const std::vector< T > &V) | ||
Prints a vector in the format [A,B,C,...] using CStream::printf, and the fmt string for each vector element. More... | |||
void | sendMessage (const utils::CMessage &msg) | ||
Send a message to the device. More... | |||
bool | receiveMessage (utils::CMessage &msg) | ||
Tries to receive a message from the device. More... | |||
bool | getline (std::string &out_str) | ||
Reads from the stream until a ' ' character is found ('' characters are ignored). More... | |||
virtual const mrpt::hwdrivers::TSensorClassId * | GetRuntimeClass () const =0 | ||
TSensorState | getState () const | ||
The current state of the sensor. More... | |||
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. More... | |||
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"
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virtual void | initialize () | ||
This method can or cannot be implemented in the derived class, depending on the need for it. More... | |||
void | getObservations (TListObservations &lstObjects) | ||
Returns a list of enqueued objects, emptying it (thread-safe). More... | |||
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). More... | |||
void | setExternalImageFormat (const std::string &ext) | ||
Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg". More... | |||
void | setExternalImageJPEGQuality (const unsigned int quality) | ||
The quality of JPEG compression, when external images is enabled and the format is "jpg". More... | |||
unsigned int | getExternalImageJPEGQuality () const | ||
Static Public Member Functions | |
static void | registerClass (const TSensorClassId *pNewClass) |
Register a class into the internal list of "CGenericSensor" descendents. More... | |
static CGenericSensor * | createSensor (const std::string &className) |
Creates a sensor by a name of the class. More... | |
static CGenericSensorPtr | createSensorPtr (const std::string &className) |
Just like createSensor, but returning a smart pointer to the newly created sensor object. More... | |
Protected Member Functions | |
bool | checkConnectionAndConnect () |
Tries to connect to the USB device (if disconnected). More... | |
bool | sendConfigCommands () |
Sends the configuration (max range, gain,...) to the USB board. More... | |
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::CBoardSonars for the possible parameters. More... | |
size_t | Read (void *Buffer, size_t Count) |
Introduces a pure virtual method responsible for reading from the stream. More... | |
size_t | Write (const void *Buffer, size_t Count) |
Introduces a pure virtual method responsible for writing to the stream. More... | |
uint64_t | Seek (uint64_t Offset, CStream::TSeekOrigin Origin=sFromBeginning) |
This virtual method does nothing in this class. More... | |
uint64_t | getTotalBytesCount () |
This virtual method does nothing in this class. More... | |
uint64_t | getPosition () |
This virtual method does nothing in this class. More... | |
void | ftdi_read (void *lpvBuffer, unsigned long dwBuffSize, unsigned long *lpdwBytesRead) |
void | ftdi_write (const void *lpvBuffer, unsigned long dwBuffSize, unsigned long *lpdwBytes) |
void | recursive_fill_list_devices (void *usb_device_structure, TFTDIDeviceList &outList) |
Process recursively a USB device and its children: More... | |
template<bool EXISTING_OBJ> | |
CSerializable * | internal_ReadObject (CSerializable *existingObj=NULL) |
A common template code for both versions of CStream::ReadObject() More... | |
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. More... | |
void | appendObservation (const mrpt::utils::CSerializablePtr &obj) |
Like appendObservations() but for just one observation. More... | |
Protected Attributes | |
std::string | m_usbSerialNumber |
A copy of the device serial number (to open the USB FTDI chip) More... | |
uint8_t | m_gain |
A value between 0 and 16, for gains between 40 and 700 (not linear). More... | |
float | m_maxRange |
The maximum range in meters, used for the internal device timer (value between 4cm and 11m). More... | |
std::vector< int32_t > | m_firingOrder |
The order in which sonars will be fired, indexed by their I2C addresses [0,15]. More... | |
std::map< uint16_t, int32_t > | m_sonarGains |
The individual gains of the sonars, indexed by their I2C addresses [0,15]. More... | |
std::map< uint16_t, mrpt::math::TPose3D > | m_sonarPoses |
The poses of the sonars: x[m] y[m] z[m] yaw[deg] pitch[deg] roll[deg] Up to 16 devices, but you can put any number of devices (from 1 to 16). More... | |
float | m_minTimeBetweenPings |
The minimum time between sonar pings (in seconds). More... | |
mrpt::utils::circular_buffer< uint8_t > | m_readBuffer |
Used in Read. More... | |
void * | m_ftdi_context |
size_t | m_grab_decimation_counter |
Used when "m_grab_decimation" is enabled. More... | |
TSensorState | m_state |
bool | m_verbose |
std::string | m_path_for_external_images |
The path where to save off-rawlog images: empty means save images embedded in the rawlog. More... | |
std::string | m_external_images_format |
The extension ("jpg","gif","png",...) that determines the format of images saved externally. More... | |
unsigned int | m_external_images_jpeg_quality |
For JPEG images, the quality (default=95%). More... | |
Common settings to any sensor, loaded in "loadConfig" | |
double | m_process_rate |
See CGenericSensor. More... | |
size_t | m_max_queue_len |
See CGenericSensor. More... | |
size_t | m_grab_decimation |
If set to N>=2, only 1 out of N observations will be saved to m_objList. More... | |
std::string | m_sensorLabel |
See CGenericSensor. More... | |
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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 |
Used in CStream::Seek.
Enumerator | |
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sFromBeginning | |
sFromCurrent | |
sFromEnd |
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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::CBoardSonars::CBoardSonars | ( | ) |
Constructor.
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inlinevirtual |
Destructor.
Definition at line 61 of file CBoardSonars.h.
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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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protected |
Tries to connect to the USB device (if disconnected).
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inherited |
Close the USB device.
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inherited |
Copies a specified number of bytes from one stream to another.
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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.
References mrpt::hwdrivers::CGenericSensor.
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virtual |
This method will be invoked at a minimum rate of "process_rate" (Hz)
This | method must throw an exception with a descriptive message if some critical error is found. |
Implements mrpt::hwdrivers::CGenericSensor.
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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 |
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protectedinherited |
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inlineinherited |
Definition at line 233 of file CGenericSensor.h.
References MRPT_MAKE_ALIGNED_OPERATOR_NEW.
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inherited |
Reads from the stream until a '
' character is found ('' characters are ignored).
bool mrpt::hwdrivers::CBoardSonars::getObservation | ( | mrpt::obs::CObservationRange & | obs | ) |
Request the latest range measurements.
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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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protectedvirtualinherited |
This virtual method does nothing in this class.
Implements mrpt::utils::CStream.
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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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inlineinherited |
The current state of the sensor.
Definition at line 82 of file CGenericSensor.h.
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protectedvirtualinherited |
This virtual method does nothing in this class.
Implements mrpt::utils::CStream.
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inlinevirtualinherited |
This method can or cannot be implemented in the derived class, depending on the need for it.
This | method must throw an exception with a descriptive message if some critical error is found. |
Reimplemented in mrpt::hwdrivers::CCameraSensor, mrpt::hwdrivers::CKinect, mrpt::hwdrivers::COpenNI2Sensor, mrpt::hwdrivers::COpenNI2_RGBD360, mrpt::hwdrivers::CNationalInstrumentsDAQ, mrpt::hwdrivers::CSickLaserSerial, mrpt::hwdrivers::CCANBusReader, mrpt::hwdrivers::CPtuHokuyo, mrpt::hwdrivers::CHokuyoURG, mrpt::hwdrivers::CBoardENoses, mrpt::hwdrivers::CGyroKVHDSP3000, mrpt::hwdrivers::CIMUIntersense, mrpt::hwdrivers::CSkeletonTracker, mrpt::hwdrivers::CLMS100Eth, mrpt::hwdrivers::CSwissRanger3DCamera, mrpt::hwdrivers::CIMUXSens, mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors, mrpt::hwdrivers::CBoardDLMS, mrpt::hwdrivers::CIMUXSens_MT4, mrpt::hwdrivers::CImpinjRFID, mrpt::hwdrivers::CNTRIPEmitter, mrpt::hwdrivers::CGPS_NTRIP, mrpt::hwdrivers::CActivMediaRobotBase, mrpt::hwdrivers::CIbeoLuxETH, and mrpt::hwdrivers::CRoboPeakLidar.
Definition at line 200 of file CGenericSensor.h.
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protectedinherited |
A common template code for both versions of CStream::ReadObject()
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inherited |
Checks whether the chip has been successfully open.
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inlineinherited |
Definition at line 93 of file CGenericSensor.h.
References mrpt::utils::registerClass().
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inherited |
Generates a list with all FTDI devices connected right now.
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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 |
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::CBoardSonars for the possible parameters.
Implements mrpt::hwdrivers::CGenericSensor.
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inherited |
Open by device description.
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inherited |
Open by device serial number.
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inherited |
Write an object to a stream in the binary MRPT format.
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inherited |
Write an object to a stream in the binary MRPT format.
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inherited |
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inherited |
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virtualinherited |
Writes a string to the stream in a textual form.
Referenced by mrpt::bayes::TKF_options::dumpToTextStream(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::dumpToTextStream(), and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TLikelihoodOptions::dumpToTextStream().
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inlineinherited |
Prints a vector in the format [A,B,C,...] using CStream::printf, and the fmt string for each vector element.
bool mrpt::hwdrivers::CBoardSonars::programI2CAddress | ( | uint8_t | currentAddress, |
uint8_t | newAddress | ||
) |
Requests a command of "change address" for a given SRF10 device.
currentAddress and newAddress are the I2C addresses in the range 0 to 15 (mapped to 0xE0 to 0xFE internally).
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inherited |
Purge the I/O buffers.
bool mrpt::hwdrivers::CBoardSonars::queryFirmwareVersion | ( | std::string & | out_firmwareVersion | ) |
Query the firmware version on the device (can be used to test communications).
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protectedvirtualinherited |
Introduces a pure virtual method responsible for reading from the stream.
It integrates a cache buffer to speed-up sequences of many, small readings.
Implements mrpt::utils::CStream.
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inherited |
Reads a block of bytes from the stream into Buffer
std::exception | On any error, or if ZERO bytes are read. |
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inlineinherited |
Reads a sequence of elemental datatypes, taking care of reordering their bytes from the MRPT stream standard (little endianness) to the format of the running architecture.
ElementCount | The number of elements (not bytes) to read. |
ptr | A pointer to the first output element in an array (or std::vector<>, etc...). |
std::exception | On any error, or if ZERO bytes are read. |
Definition at line 95 of file CStream.h.
References mrpt::mrpt::utils::reverseBytesInPlace().
Referenced by mrpt::math::operator>>().
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virtualinherited |
Reads a block of bytes from the stream into Buffer, and returns the amound of bytes actually read, without waiting for more extra bytes to arrive (just those already enqued in the stream).
In this class this method actually behaves as expected and does not fallback to ReadBuffer().
std::exception | On any error, or if ZERO bytes are read. |
Reimplemented from mrpt::utils::CStream.
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inherited |
Reads an object from stream, its class determined at runtime, and returns a smart pointer to the object.
std::exception | On I/O error or undefined class. |
mrpt::utils::CExceptionEOF | On an End-Of-File condition found at a correct place: an EOF that abruptly finishes in the middle of one object raises a plain std::exception instead. |
Referenced by mrpt::math::operator>>().
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inherited |
Reads an object from stream, where its class must be the same as the supplied object, where the loaded object will be stored in.
std::exception | On I/O error or different class found. |
mrpt::utils::CExceptionEOF | On an End-Of-File condition found at a correct place: an EOF that abruptly finishes in the middle of one object raises a plain std::exception instead. |
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inlineinherited |
Tries to read, raising no exception if not all the bytes are available, but raising one if there is some communication error.
Definition at line 126 of file CInterfaceFTDI.h.
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inherited |
Tries to receive a message from the device.
std::exception | On communication errors |
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protectedinherited |
Process recursively a USB device and its children:
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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.
Referenced by mrpt::hwdrivers::CGenericSensor::CLASSINIT_GENERIC_SENSOR::CLASSINIT_GENERIC_SENSOR().
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inherited |
Reset the USB device.
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protectedinherited |
This virtual method does nothing in this class.
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pure virtualinherited |
Introduces a pure virtual method for moving to a specified position in the streamed resource.
he Origin parameter indicates how to interpret the Offset parameter. Origin should be one of the following values:
Implemented in mrpt::utils::CClientTCPSocket, mrpt::utils::CFileStream, mrpt::utils::CFileGZInputStream, mrpt::utils::CMemoryStream, mrpt::utils::CFileOutputStream, mrpt::utils::CFileInputStream, and mrpt::utils::CStdOutStream.
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protected |
Sends the configuration (max range, gain,...) to the USB board.
Used internally after a successfull connection.
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inherited |
Send a message to the device.
Note that only the low byte from the "type" field will be used.
For frames of size < 255 the frame format is an array of bytes in this order:
For frames of size > 255 the frame format is an array of bytes in this order:
std::exception | On communication errors |
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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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inherited |
Change the latency timer (in milliseconds) implemented on the FTDI chip: for a few ms, data is not sent to the PC waiting for possible more data, to save USB trafic.
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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::COpenNI2Sensor, mrpt::hwdrivers::COpenNI2_RGBD360, and mrpt::hwdrivers::CSwissRanger3DCamera.
Definition at line 216 of file CGenericSensor.h.
References MRPT_UNUSED_PARAM.
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inlineinherited |
Definition at line 87 of file CGenericSensor.h.
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inherited |
Change read & write timeouts, in milliseconds.
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protectedvirtualinherited |
Introduces a pure virtual method responsible for writing to the stream.
Write attempts to write up to Count bytes to Buffer, and returns the number of bytes actually written.
Implements mrpt::utils::CStream.
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inherited |
Writes a block of bytes to the stream from Buffer.
std::exception | On any error |
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inlineinherited |
Writes a sequence of elemental datatypes, taking care of reordering their bytes from the running architecture to MRPT stream standard (little endianness).
ElementCount | The number of elements (not bytes) to write. |
ptr | A pointer to the first input element in an array (or std::vector<>, etc...). Example of usage: vector<float> vec = ... uint32_t N = vec.size(); s << N if (N) s.WriteBufferFixEndianness<float>(&vec[0],N); |
std::exception | On any error |
Definition at line 139 of file CStream.h.
References mrpt::utils::CSerializablePtr, MRPT_printf_format_check, mrpt::utils::operator<<(), and mrpt::utils::operator>>().
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inherited |
Writes an object to the stream.
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inlineinherited |
Tries to write, raising no exception if not all the bytes are available, but raising one if there is some communication error.
Definition at line 133 of file CInterfaceFTDI.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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protected |
The order in which sonars will be fired, indexed by their I2C addresses [0,15].
Up to 16 devices, but you can put any number of devices (from 1 to 16).
Definition at line 98 of file CBoardSonars.h.
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protectedinherited |
Definition at line 227 of file CInterfaceFTDI.h.
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protected |
A value between 0 and 16, for gains between 40 and 700 (not linear).
Definition at line 89 of file CBoardSonars.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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protectedinherited |
See CGenericSensor.
Definition at line 116 of file CGenericSensor.h.
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protected |
The maximum range in meters, used for the internal device timer (value between 4cm and 11m).
Definition at line 93 of file CBoardSonars.h.
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protected |
The minimum time between sonar pings (in seconds).
Definition at line 112 of file CBoardSonars.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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protectedinherited |
See CGenericSensor.
Definition at line 115 of file CGenericSensor.h.
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protectedinherited |
Used in Read.
Definition at line 150 of file CInterfaceFTDI.h.
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protectedinherited |
See CGenericSensor.
Definition at line 118 of file CGenericSensor.h.
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protected |
The individual gains of the sonars, indexed by their I2C addresses [0,15].
Up to 16 devices, but you can put any number of devices (from 1 to 16).
Definition at line 103 of file CBoardSonars.h.
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The poses of the sonars: x[m] y[m] z[m] yaw[deg] pitch[deg] roll[deg] Up to 16 devices, but you can put any number of devices (from 1 to 16).
Definition at line 108 of file CBoardSonars.h.
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Definition at line 124 of file CGenericSensor.h.
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A copy of the device serial number (to open the USB FTDI chip)
Definition at line 85 of file CBoardSonars.h.
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Definition at line 125 of file CGenericSensor.h.
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