mrpt::hwdrivers::CRovio Class Reference

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Detailed Description

A class to interface a Rovio robot (manufactured by WowWee).

Supports: Simple motion commands, video streaming.

Definition at line 52 of file CRovio.h.

#include <mrpt/hwdrivers/CRovio.h>

List of all members.

Classes
struct	TEncoders
struct	TOptions
struct	TRovioState
Public Types
enum	status {   idle, driving_home, docking, executing_path,   recording_path }
Public Member Functions
void	initialize ()
	Establish conection with Rovio and log in its system: Important, fill out "options" members *BEFORE* calling this method.
bool	move (char direction, int speed=5)
	move send Rovio the command to move in the specified direcction
bool	rotate (char direction, int speed=5)
	rotate send Rovio the command to rotate in the specified direcction 'r'->right, 'l'->left
bool	takeHeadUp ()
	Head positions.
bool	takeHeadMiddle ()
bool	takeHeadDown ()
bool	pathRecord ()
bool	pathRecordAbort ()
bool	pathRecordSave (const string &path_name)
bool	pathDelete (const string &path_name)
bool	pathGetList (string &path_list)
	Get list of saved paths.
bool	pathRunForward ()
bool	pathRunBackward ()
bool	pathRunStop ()
bool	pathRunPause ()
bool	pathRename (const string &old_name, const string &new_name)
bool	goHome (bool dock, int speed=5)
	goHome(bool dock) drives Rovio in front of charging station if the paremeter dock is set to false, otherwise it also docks
void	loadConfig (const mrpt::utils::CConfigFileBase &configSource, const std::string &section)
	Loads the rovio camera calibration parameters (of leave the default ones if not found) (See CGenericSensor), then call to "loadConfig_sensorSpecific" Exceptions: This method throws an exception with a descriptive message if some critical parameter is missing or has an invalid value.
bool	retrieve_video ()
	This function launchs a thread with the function "thread_video()" which gets frames into a buffer.
bool	stop_video ()
	This function stops and joins the thread launched by "retrieve_video()".
bool	getNextImageSync (CObservationImagePtr &lastImage)
	Returns the next frame from Rovio's live video stream, after starting the live streaming with retrieve_video()
bool	captureImageAsync (CImage &out_img, bool recttified)
	Returns a snapshot from Rovio, if rectified is set true, the returned image is rectified with the parameters of intrinsic_matrix and distortion_matrix.
bool	isVideoStreamming () const
	Return true if video is streaming correctly.
bool	getRovioState (TRovioState &state)
	Returns a TRovioState with internal information of Rovio (State, Navigation Signal Strength, Wifi Signal Strength)
bool	getEncoders (TEncoders &encoders)
	Returns a TEncoders with information of Rovio encoders (since last read, it seems Rovio is continuously reading with unknown sample time)
bool	getPosition (mrpt::math::TPose2D &out_pose)
	Returns the Rovio's pose.
	CRovio ()
virtual	~CRovio ()
Public Attributes
struct mrpt::hwdrivers::CRovio::TOptions	options
struct mrpt::hwdrivers::CRovio::TEncoders	encoders
Private Member Functions
void	thread_video ()
	This function takes a frame and waits until getLastImage ask for it, and so on.
bool	send_cmd_action (int act, int speed)
bool	path_management (int act)
bool	path_management (int act, const string &path_name)
bool	general_command (int act, string &response, string &errormsg)
Private Attributes
mrpt::system::TThreadHandle	m_videoThread
bool	m_videothread_must_exit
bool	m_videothread_initialized_done
bool	m_videothread_initialized_error
bool	m_videothread_finished
mrpt::slam::CObservationImagePtr	buffer_img
mrpt::synch::CCriticalSection	buffer_img_cs

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Member Enumeration Documentation

enum mrpt::hwdrivers::CRovio::status

Enumerator:

idle
driving_home
docking
executing_path
recording_path

Definition at line 90 of file CRovio.h.

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Constructor & Destructor Documentation

mrpt::hwdrivers::CRovio::CRovio

(

)

virtual mrpt::hwdrivers::CRovio::~CRovio

(

)

[virtual]

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Member Function Documentation

bool mrpt::hwdrivers::CRovio::captureImageAsync	(	CImage &	out_img,
		bool	recttified
	)

Returns a snapshot from Rovio, if rectified is set true, the returned image is rectified with the parameters of intrinsic_matrix and distortion_matrix.

This function works asynchronously and does not need to have enabled the live video streaming.

Returns:

False on error

See also:

captureImageSync

bool mrpt::hwdrivers::CRovio::general_command	(	int	act,
		string &	response,
		string &	errormsg
	)		[private]

bool mrpt::hwdrivers::CRovio::getEncoders

(

TEncoders &

encoders )

Returns a TEncoders with information of Rovio encoders (since last read, it seems Rovio is continuously reading with unknown sample time)

Returns:

False on error

bool mrpt::hwdrivers::CRovio::getNextImageSync

(

CObservationImagePtr &

lastImage )

Returns the next frame from Rovio's live video stream, after starting the live streaming with retrieve_video()

Returns:

False on error

See also:

retrieve_video, captureImageAsync

bool mrpt::hwdrivers::CRovio::getPosition

(

mrpt::math::TPose2D &

out_pose )

Returns the Rovio's pose.

Returns:

False on error

bool mrpt::hwdrivers::CRovio::getRovioState

(

TRovioState &

state )

Returns a TRovioState with internal information of Rovio (State, Navigation Signal Strength, Wifi Signal Strength)

Returns:

False on error

bool mrpt::hwdrivers::CRovio::goHome	(	bool	dock,
		int	speed = 5
	)

goHome(bool dock) drives Rovio in front of charging station if the paremeter dock is set to false, otherwise it also docks

Returns:

False on error

void mrpt::hwdrivers::CRovio::initialize

(

)

Establish conection with Rovio and log in its system: Important, fill out "options" members *BEFORE* calling this method.

Exceptions:

std::runtime

On errors

bool mrpt::hwdrivers::CRovio::isVideoStreamming

(

)

const

Return true if video is streaming correctly.

See also:

retrieve_video

void mrpt::hwdrivers::CRovio::loadConfig	(	const mrpt::utils::CConfigFileBase &	configSource,
		const std::string &	section
	)

Loads the rovio camera calibration parameters (of leave the default ones if not found) (See CGenericSensor), then call to "loadConfig_sensorSpecific"

Exceptions:

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

bool mrpt::hwdrivers::CRovio::move	(	char	direction,
		int	speed = 5
	)

move send Rovio the command to move in the specified direcction

Parameters:

direction

'f'->forward, 'b'->backward, 'r'->right, 'l'->left

Returns:

False on error

bool mrpt::hwdrivers::CRovio::path_management

(

int

act )

[private]

bool mrpt::hwdrivers::CRovio::path_management	(	int	act,
		const string &	path_name
	)		[private]

bool mrpt::hwdrivers::CRovio::pathDelete

(

const string &

path_name )

bool mrpt::hwdrivers::CRovio::pathGetList

(

string &

path_list )

Get list of saved paths.

bool mrpt::hwdrivers::CRovio::pathRecord

(

)

bool mrpt::hwdrivers::CRovio::pathRecordAbort

(

)

bool mrpt::hwdrivers::CRovio::pathRecordSave

(

const string &

path_name )

bool mrpt::hwdrivers::CRovio::pathRename	(	const string &	old_name,
		const string &	new_name
	)

bool mrpt::hwdrivers::CRovio::pathRunBackward

(

)

bool mrpt::hwdrivers::CRovio::pathRunForward

(

)

bool mrpt::hwdrivers::CRovio::pathRunPause

(

)

bool mrpt::hwdrivers::CRovio::pathRunStop

(

)

bool mrpt::hwdrivers::CRovio::retrieve_video

(

)

This function launchs a thread with the function "thread_video()" which gets frames into a buffer.

After calling this method, images can be obtained with getNextImageSync()

Returns:

False on error

See also:

getNextImageSync

bool mrpt::hwdrivers::CRovio::rotate	(	char	direction,
		int	speed = 5
	)

rotate send Rovio the command to rotate in the specified direcction 'r'->right, 'l'->left

Returns:

False on error

bool mrpt::hwdrivers::CRovio::send_cmd_action	(	int	act,
		int	speed
	)		[private]

bool mrpt::hwdrivers::CRovio::stop_video

(

)

This function stops and joins the thread launched by "retrieve_video()".

Returns:

False on error

bool mrpt::hwdrivers::CRovio::takeHeadDown

(

)

bool mrpt::hwdrivers::CRovio::takeHeadMiddle

(

)

bool mrpt::hwdrivers::CRovio::takeHeadUp

(

)

Head positions.

Returns:

False on error

void mrpt::hwdrivers::CRovio::thread_video

(

)

[private]

This function takes a frame and waits until getLastImage ask for it, and so on.

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Member Data Documentation

mrpt::slam::CObservationImagePtr mrpt::hwdrivers::CRovio::buffer_img [private]

Definition at line 61 of file CRovio.h.

mrpt::synch::CCriticalSection mrpt::hwdrivers::CRovio::buffer_img_cs [private]

Definition at line 62 of file CRovio.h.

struct mrpt::hwdrivers::CRovio::TEncoders mrpt::hwdrivers::CRovio::encoders

mrpt::system::TThreadHandle mrpt::hwdrivers::CRovio::m_videoThread [private]

Definition at line 55 of file CRovio.h.

bool mrpt::hwdrivers::CRovio::m_videothread_finished [private]

Definition at line 59 of file CRovio.h.

bool mrpt::hwdrivers::CRovio::m_videothread_initialized_done [private]

Definition at line 57 of file CRovio.h.

bool mrpt::hwdrivers::CRovio::m_videothread_initialized_error [private]

Definition at line 58 of file CRovio.h.

bool mrpt::hwdrivers::CRovio::m_videothread_must_exit [private]

Definition at line 56 of file CRovio.h.

struct mrpt::hwdrivers::CRovio::TOptions mrpt::hwdrivers::CRovio::options