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CHokuyoURG.h
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1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2016, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +---------------------------------------------------------------------------+ */
9 #ifndef CHokuyoURG_H
10 #define CHokuyoURG_H
11 
12 #include <mrpt/poses/CPose3D.h>
16 
17 namespace mrpt
18 {
19  namespace hwdrivers
20  {
21  /** This software driver implements the protocol SCIP-2.0 for interfacing HOKUYO URG, UTM and UXM laser scanners (USB or Ethernet)
22  * Refer to the example code [HOKUYO_laser_test](http://www.mrpt.org/tutorials/mrpt-examples/example_hokuyo_urgutm_laser_scanner/)
23  * and to example rawlog-grabber [config files](https://github.com/MRPT/mrpt/tree/master/share/mrpt/config_files/rawlog-grabber)
24  *
25  * See also the application "rawlog-grabber" for a ready-to-use application to gather data from the scanner.
26  *
27  * \code
28  * PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
29  * -------------------------------------------------------
30  * [supplied_section_name]
31  * HOKUYO_motorSpeed_rpm=600
32  * #HOKUYO_HS_mode = false // Optional (un-comment line if used): Set/unset the High-sensitivity mode (not on all models/firmwares!)
33  *
34  * # Uncomment serial port or IP address, depending on the Hokuyo model (serial/USB vs. Ethernet):
35  * COM_port_WIN = COM3 // Serial port name in Windows
36  * COM_port_LIN = ttyS0 // Serial port name in GNU/Linux
37  * #IP_DIR = 192.168.0.10 // Uncommented this and "PORT_DIR" if the used HOKUYO is connected by Ethernet instead of USB
38  * #PORT_DIR = 10940 // Default value: 10940
39  *
40  * pose_x=0.21 // Laser range scaner 3D position in the robot (meters)
41  * pose_y=0
42  * pose_z=0.34
43  * pose_yaw=0 // Angles in degrees
44  * pose_pitch=0
45  * pose_roll=0
46  *
47  * #disable_firmware_timestamp = true // Uncomment to use PC time instead of laser time
48  *
49  * # Optional: reduced FOV:
50  * # reduced_fov = 25 // Deg
51  *
52  * #preview = true // Enable GUI visualization of captured data
53  *
54  * # Optional: Exclusion zones to avoid the robot seeing itself:
55  * #exclusionZone1_x = 0.20 0.30 0.30 0.20
56  * #exclusionZone1_y = 0.20 0.30 0.30 0.20
57  *
58  * # Optional: Exclusion zones to avoid the robot seeing itself:
59  * #exclusionAngles1_ini = 20 // Deg
60  * #exclusionAngles1_end = 25 // Deg
61  *
62  * \endcode
63  * \ingroup mrpt_hwdrivers_grp
64  */
66  {
68  public:
69 
70  /** Used in CHokuyoURG::displayVersionInfo */
71  struct TSensorInfo
72  {
73  std::string model; //!< The sensor model
74  double d_min,d_max; //!< Min/Max ranges, in meters.
75  int scans_per_360deg; //!< Number of measuremens per 360 degrees.
76  int scan_first,scan_last, scan_front; //!< First, last, and front step of the scanner angular span.
77  int motor_speed_rpm; //!< Standard motor speed, rpm.
78  };
79 
80  private:
81  int m_firstRange,m_lastRange; //!< The first and last ranges to consider from the scan.
82  int m_motorSpeed_rpm; //!< The motor speed (default=600rpm)
83  poses::CPose3D m_sensorPose; //!< The sensor 6D pose:
84  mrpt::utils::circular_buffer<uint8_t> m_rx_buffer; //!< Auxiliary buffer for readings
85 
86  std::string m_lastSentMeasCmd; //!< The last sent measurement command (MDXXX), including the last 0x0A.
87 
88  bool m_verbose;
89  bool m_highSensMode; //!< High sensitivity [HS] mode (default: false)
90  mrpt::gui::CDisplayWindow3DPtr m_win;
91 
92  /** Enables the SCIP2.0 protocol (this must be called at the very begining!).
93  * \return false on any error
94  */
95  bool enableSCIP20();
96 
97  /** Passes to 115200bps bitrate.
98  * \return false on any error
99  */
100  bool setHighBaudrate();
101 
102  /** Switchs the laser on.
103  * \return false on any error
104  */
105  bool switchLaserOn();
106 
107  /** Switchs the laser off
108  * \return false on any error
109  */
110  bool switchLaserOff();
111 
112  /** Changes the motor speed in rpm's (default 600rpm)
113  * \return false on any error
114  */
115  bool setMotorSpeed(int motoSpeed_rpm);
116 
117  /** Ask to the device, and print to the debug stream, details about the firmware version,serial number,...
118  * \return false on any error
119  */
120  bool displayVersionInfo( );
121 
122  /** Ask to the device, and print to the debug stream, details about the sensor model.
123  * It also optionally saves all the information in an user supplied data structure "out_data".
124  * \return false on any error
125  */
126  bool displaySensorInfo( CHokuyoURG::TSensorInfo * out_data = NULL );
127 
128  /** Start the scanning mode, using parameters stored in the object (loaded from the .ini file)
129  * After this command the device will start to send scans until "switchLaserOff" is called.
130  * \return false on any error
131  */
132  bool startScanningMode();
133 
134  /** Turns the laser on */
135  void initialize();
136 
137  /** Waits for a response from the device.
138  * \return false on any error
139  */
140  bool receiveResponse(
141  const char *sentCmd_forEchoVerification,
142  char &rcv_status0,
143  char &rcv_status1,
144  char *rcv_data,
145  int &rcv_dataLength);
146 
147 
148  /** Assures a minimum number of bytes in the input buffer, reading from the serial port only if required.
149  * \return false if the number of bytes are not available, even after trying to fetch more data from the serial port.
150  */
151  bool assureBufferHasBytes(const size_t nDesiredBytes);
152 
153  public:
154  /** Constructor
155  */
156  CHokuyoURG();
157 
158  /** Destructor: turns the laser off */
159  virtual ~CHokuyoURG();
160 
161  /** Specific laser scanner "software drivers" must process here new data from the I/O stream, and, if a whole scan has arrived, return it.
162  * This method will be typically called in a different thread than other methods, and will be called in a timely fashion.
163  */
164  void doProcessSimple(
165  bool &outThereIsObservation,
166  mrpt::obs::CObservation2DRangeScan &outObservation,
167  bool &hardwareError );
168 
169  /** 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.
170  * \return If everything works "true", or "false" if there is any error.
171  */
172  bool turnOn();
173 
174  /** Disables the scanning mode (this can be used to turn the device in low energy mode, if available)
175  * \return If everything works "true", or "false" if there is any error.
176  */
177  bool turnOff();
178 
179  /** Empties the RX buffers of the serial port */
180  void purgeBuffers();
181 
182  /** 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. */
183  void setSerialPort(const std::string &port_name) { m_com_port = port_name; }
184 
185  /** Set the ip direction and port to connect using Ethernet communication */
186  void setIPandPort(const std::string &ip, const unsigned int &port) { m_ip_dir = ip; m_port_dir = port; }
187 
188  /** Returns the currently set serial port \sa setSerialPort */
189  const std::string getSerialPort() { return m_com_port; }
190 
191  /** 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.
192  * Call with "0" to disable this reduction again (the default).
193  */
194  void setReducedFOV(const double fov) { m_reduced_fov = fov; }
195 
196  /** Changes the high sensitivity mode (HS) (default: false)
197  * \return false on any error
198  */
199  bool setHighSensitivityMode(bool enabled);
200 
201  void setVerbose(bool enable = true) { m_verbose = enable; }
202 
203 
204  protected:
205  /** 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"
206  */
207  bool checkCOMisOpen();
208 
209  double m_reduced_fov; //!< Used to reduce artificially the interval of scan ranges.
210 
211  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.
212 
213  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
214  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
215 
216  /** The information gathered when the laser is first open */
218 
220 
221  uint32_t m_timeStartUI; //!< Time of the first data packet, for synchronization purposes.
222  int m_timeStartSynchDelay; //!< Counter to discard to first few packets before setting the correspondence between device and computer timestamps.
225 
226  /** See the class documentation at the top for expected parameters */
227  void loadConfig_sensorSpecific(
228  const mrpt::utils::CConfigFileBase &configSource,
229  const std::string &iniSection );
230 
231  }; // End of class
232 
233  } // End of namespace
234 
235 } // End of namespace
236 
237 #endif
uint64_t TTimeStamp
A system independent time type, it holds the the number of 100-nanosecond intervals since January 1...
Definition: datetime.h:30
void setVerbose(bool enable=true)
Definition: CHokuyoURG.h:201
const std::string getSerialPort()
Returns the currently set serial port.
Definition: CHokuyoURG.h:189
std::string m_com_port
If set to non-empty, the serial port will be attempted to be opened automatically when this class is ...
Definition: CHokuyoURG.h:211
uint32_t m_timeStartUI
Time of the first data packet, for synchronization purposes.
Definition: CHokuyoURG.h:221
void setReducedFOV(const double fov)
If called (before calling "turnOn"), the field of view of the laser is reduced to the given range (in...
Definition: CHokuyoURG.h:194
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 comm...
Definition: CHokuyoURG.h:214
This class allows loading and storing values and vectors of different types from a configuration text...
std::string m_lastSentMeasCmd
The last sent measurement command (MDXXX), including the last 0x0A.
Definition: CHokuyoURG.h:86
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 ...
Definition: CHokuyoURG.h:183
mrpt::gui::CDisplayWindow3DPtr m_win
Definition: CHokuyoURG.h:90
Used in CHokuyoURG::displayVersionInfo.
Definition: CHokuyoURG.h:71
int m_timeStartSynchDelay
Counter to discard to first few packets before setting the correspondence between device and computer...
Definition: CHokuyoURG.h:222
mrpt::system::TTimeStamp m_timeStartTT
Definition: CHokuyoURG.h:223
int m_motorSpeed_rpm
The motor speed (default=600rpm)
Definition: CHokuyoURG.h:82
#define DEFINE_GENERIC_SENSOR(class_name)
This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...
This is the base, abstract class for "software drivers" interfaces to 2D scanners (laser range finder...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:72
void setIPandPort(const std::string &ip, const unsigned int &port)
Set the ip direction and port to connect using Ethernet communication.
Definition: CHokuyoURG.h:186
This software driver implements the protocol SCIP-2.0 for interfacing HOKUYO URG, UTM and UXM laser s...
Definition: CHokuyoURG.h:65
poses::CPose3D m_sensorPose
The sensor 6D pose:
Definition: CHokuyoURG.h:83
TSensorInfo m_sensor_info
The information gathered when the laser is first open.
Definition: CHokuyoURG.h:217
#define HWDRIVERS_IMPEXP
bool m_highSensMode
High sensitivity [HS] mode (default: false)
Definition: CHokuyoURG.h:89
std::string model
The sensor model.
Definition: CHokuyoURG.h:73
double m_reduced_fov
Used to reduce artificially the interval of scan ranges.
Definition: CHokuyoURG.h:209
mrpt::utils::circular_buffer< uint8_t > m_rx_buffer
Auxiliary buffer for readings.
Definition: CHokuyoURG.h:84
int motor_speed_rpm
Standard motor speed, rpm.
Definition: CHokuyoURG.h:77
int m_lastRange
The first and last ranges to consider from the scan.
Definition: CHokuyoURG.h:81
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 co...
Definition: CHokuyoURG.h:213
int scans_per_360deg
Number of measuremens per 360 degrees.
Definition: CHokuyoURG.h:75



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