mrpt::hwdrivers::CGenericSensor Class Reference

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

#include <mrpt/hwdrivers/CGenericSensor.h>

Inheritance diagram for mrpt::hwdrivers::CGenericSensor:

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.
	CGenericSensor ()
	Constructor.
virtual	~CGenericSensor ()
	Destructor.
virtual void	loadConfig (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: This  method must throw 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: This  method 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).
Static Public Member Functions
static CGenericSensor *	createSensor (std::string &className)
	Creates a sensor by a name of the class.
Protected Member Functions
void	appendObservation (const 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.
Static Protected Member Functions
static void	registerClass (const TSensorClassId *pNewClass)
	Register a class into the internal list of "CGenericSensor" descendents.
Protected Attributes
TSensorState	m_state
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.

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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:

• Object constructor
• CGenericSensor::loadConfig: The following parameters are common to all sensors in RawLogGrabber (they are automatically loaded by RawLogGrabber) - see each class documentation for additional parameters:

                          "process_rate": The rate in Hertz (Hz) at which the sensor thread should invoke "doProcess". This parameter must be supplied.
                          "max_queue_len": The maximum number of objects in the observations queue (default is 100). If overflow occurs, an error message will be issued at run-time.
  

• CGenericSensor::initialize
• CGenericSensor::doProcess
• CGenericSensor::getObservations

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://babel.isa.uma.es/mrpt/index.php/Application:RawLogGrabber

Definition at line 58 of file CGenericSensor.h.

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Member Typedef Documentation

typedef std::multimap< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > mrpt::hwdrivers::CGenericSensor::TListObservations

Definition at line 63 of file CGenericSensor.h.

typedef std::pair< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > mrpt::hwdrivers::CGenericSensor::TListObsPair

Definition at line 64 of file CGenericSensor.h.

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Member Enumeration Documentation

enum mrpt::hwdrivers::CGenericSensor::TSensorState

The current state of the sensor.

See also:

CGenericSensor::getState

Enumerator:

ssInitializing
ssWorking
ssError

Definition at line 69 of file CGenericSensor.h.

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Constructor & Destructor Documentation

mrpt::hwdrivers::CGenericSensor::CGenericSensor

(

)

Constructor.

virtual mrpt::hwdrivers::CGenericSensor::~CGenericSensor

(

)

[virtual]

Destructor.

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Member Function Documentation

void mrpt::hwdrivers::CGenericSensor::appendObservation

(

const 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);

static CGenericSensor* mrpt::hwdrivers::CGenericSensor::createSensor

(

std::string &

className

)

[static]

Creates a sensor by a name of the class.

Returns:

A pointer to a new class, or NULL if class name is unknown.

virtual void mrpt::hwdrivers::CGenericSensor::doProcess

(

)

[pure virtual]

This method will be invoked at a minimum rate of "process_rate" (Hz)

Exceptions:

This

method must throw an exception with a descriptive message if some critical error is found.

Implemented in mrpt::hwdrivers::C2DRangeFinderAbstract, mrpt::hwdrivers::CActivMediaRobotBase, mrpt::hwdrivers::CBoardDLMS, mrpt::hwdrivers::CCameraSensor, mrpt::hwdrivers::CGPSInterface, mrpt::hwdrivers::CIMUXSens, and mrpt::hwdrivers::CPtuHokuyo.

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.

virtual const mrpt::hwdrivers::TSensorClassId* mrpt::hwdrivers::CGenericSensor::GetRuntimeClass

(

)

const [pure virtual]

TSensorState mrpt::hwdrivers::CGenericSensor::getState

(

)

const [inline]

The current state of the sensor.

Definition at line 77 of file CGenericSensor.h.

virtual void mrpt::hwdrivers::CGenericSensor::initialize

(

)

[inline, virtual]

This method can or cannot be implemented in the derived class, depending on the need for it.

Exceptions:

This

method must throw an exception with a descriptive message if some critical error is found.

Reimplemented in mrpt::hwdrivers::CActivMediaRobotBase, mrpt::hwdrivers::CBoardDLMS, mrpt::hwdrivers::CCameraSensor, mrpt::hwdrivers::CHokuyoURG, mrpt::hwdrivers::CIMUXSens, and mrpt::hwdrivers::CPtuHokuyo.

Definition at line 142 of file CGenericSensor.h.

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

Exceptions:

This

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

Implemented in mrpt::hwdrivers::CActivMediaRobotBase, mrpt::hwdrivers::CBoardDLMS, mrpt::hwdrivers::CCameraSensor, mrpt::hwdrivers::CGPSInterface, mrpt::hwdrivers::CHokuyoURG, mrpt::hwdrivers::CIMUXSens, mrpt::hwdrivers::CPtuHokuyo, and mrpt::hwdrivers::CSickLaserUSB.

static void mrpt::hwdrivers::CGenericSensor::registerClass

(

const TSensorClassId *

pNewClass

)

[static, protected]

Register a class into the internal list of "CGenericSensor" descendents.

Used internally in the macros DEFINE_GENERIC_SENSOR, etc...

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Member Data Documentation

synch::CCriticalSection mrpt::hwdrivers::CGenericSensor::m_csObjList [private]

The critical section for m_objList.

Definition at line 82 of file CGenericSensor.h.

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

Used in registerClass.

Definition at line 86 of file CGenericSensor.h.

TListObservations mrpt::hwdrivers::CGenericSensor::m_objList [private]

The queue of objects to be returned by getObservations.

Definition at line 83 of file CGenericSensor.h.

TSensorState mrpt::hwdrivers::CGenericSensor::m_state [protected]

Definition at line 92 of file CGenericSensor.h.