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CEnoseModular.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 
10 #ifndef CEnoseModular_H
11 #define CEnoseModular_H
12 
18 
19 
20 namespace mrpt
21 {
22  namespace hwdrivers
23  {
24  /** A class for interfacing an e-NoseModular via a FTDI USB link.
25  * Implemented for the Mdular board v1.0 designed by 2013 @ MAPIR (University of Malaga).
26  *
27  * \code
28  * PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
29  * -------------------------------------------------------
30  * [supplied_section_name]
31  * USB_serialname=ENOSE001 // USB FTDI pipe: will open only if COM_port_* are not set or empty
32  *
33  * COM_port_WIN = COM1 // Serial port to connect to.
34  * COM_port_LIN = ttyS0
35  *
36  * COM_baudRate = 115200
37  *
38  * ; 3D position (in meters) of the master +slave eNoses
39  * enose_poses_x=<MASTER X> <SLAVE#1 X> <SLAVE#2 X> <SLAVE#3 X>...
40  * enose_poses_y=<MASTER Y> <SLAVE#1 Y> <SLAVE#2 Y> <SLAVE#3 Y>...
41  * enose_poses_z=<MASTER Z> <SLAVE#1 Z> <SLAVE#2 Z> <SLAVE#3 Z>...
42  *
43  * ; 3D pose angles (in degrees) of the master +slave eNoses
44  * enose_poses_yaw=<MASTER YAW> <SLAVE#1 YAW> <SLAVE#2 YAW> <SLAVE#3 YAW>...
45  * enose_poses_pitch=<MASTER PITCH> <SLAVE#1 PITCH> <SLAVE#2 PITCH> <SLAVE#3 PITCH>...
46  * enose_poses_roll=<MASTER ROLL> <SLAVE#1 ROLL> <SLAVE#2 ROLL> <SLAVE#3 ROLL>...
47  *
48  * \endcode
49  *
50  * \ingroup mrpt_hwdrivers_grp
51  */
53  {
55 
56  protected:
57  /** A copy of the device serial number (to open the USB FTDI chip)
58  */
59  std::string m_usbSerialNumber;
62 
63  std::string m_COM_port; //!< If not an empty string (default), will open that serial port, otherwise will try to open USB FTDI device "m_usbSerialNumber"
64  unsigned int m_COM_baud; //!< Default=115200
65 
66 
67  // Only one of these two streams will be !=NULL and open for each specific eNose board!
68  /** FTDI comms pipe (when not in serial port mode) */
70  /** Serial port comms */
72 
73  /** The 3D pose of the master + N slave eNoses on the robot (meters & radians) */
74  std::vector<float> enose_poses_x,enose_poses_y,enose_poses_z,enose_poses_yaw,enose_poses_pitch,enose_poses_roll;
75 
76  /** Tries to connect to the USB device (if disconnected).
77  * \return NULL on error, otherwise a stream to be used for comms.
78  */
79  mrpt::utils::CStream* checkConnectionAndConnect();
80 
81  /** See the class documentation at the top for expected parameters */
82  void loadConfig_sensorSpecific(
83  const mrpt::utils::CConfigFileBase &configSource,
84  const std::string &section );
85 
86  /** Purge the Serial/FTDI buffer */
87  void purgeBuffers();
88 
89  public:
90  /** Constructor
91  * \param serialNumberUSBdevice The serial number (text) of the device to open.
92  * The constructor will try to open the device. You can check if it failed calling "isOpen()".
93  */
94  CEnoseModular( );
95 
96  /** Destructor
97  */
98  virtual ~CEnoseModular();
99 
100  /** Request the master eNose the latest readings from all the eNoses.
101  * The output observation contains a valid timestamp and 3D positions if "loadConfig" has been called previously.
102  * \return true if OK, false if there were any error.
103  */
104  bool getObservation( mrpt::obs::CObservationGasSensors &outObservation );
105 
106 
107  // See docs in parent class
108  void doProcess();
109 
110 
111 
112  /** If not an empty string, will open that serial port, otherwise will try to open USB FTDI device "m_usbSerialNumber"
113  * The default is an empty string. Example strings: "COM1", "ttyUSB0", ...
114  */
115  inline void setSerialPort(const std::string &port) { m_COM_port = port; }
116  inline std::string getSerialPort() const { return m_COM_port; }
117 
118  /** Set the serial port baud rate (default: 115200) */
119  inline void setSerialPortBaud(unsigned int baud) { m_COM_baud=baud; }
120  inline unsigned int getSerialPortBaud() const { return m_COM_baud; }
121 
122 
123  }; // end of class
124  } // end of namespace
125 } // end of namespace
126 
127 
128 #endif
A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabbe...
uint64_t TTimeStamp
A system independent time type, it holds the the number of 100-nanosecond intervals since January 1...
Definition: datetime.h:30
CInterfaceFTDI * m_stream_FTDI
FTDI comms pipe (when not in serial port mode)
Definition: CEnoseModular.h:69
std::vector< float > enose_poses_z
Definition: CEnoseModular.h:74
A communications serial port built as an implementation of a utils::CStream.
Definition: CSerialPort.h:43
void setSerialPort(const std::string &port)
If not an empty string, will open that serial port, otherwise will try to open USB FTDI device "m_usb...
unsigned int getSerialPortBaud() const
CSerialPort * m_stream_SERIAL
Serial port comms.
Definition: CEnoseModular.h:71
This class allows loading and storing values and vectors of different types from a configuration text...
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
Definition: CStream.h:38
void setSerialPortBaud(unsigned int baud)
Set the serial port baud rate (default: 115200)
mrpt::system::TTimeStamp initial_timestamp
Definition: CEnoseModular.h:60
std::string m_usbSerialNumber
A copy of the device serial number (to open the USB FTDI chip)
Definition: CEnoseModular.h:59
Declares a class derived from "CObservation" that represents a set of readings from gas sensors...
std::string m_COM_port
If not an empty string (default), will open that serial port, otherwise will try to open USB FTDI dev...
Definition: CEnoseModular.h:63
std::string getSerialPort() const
#define DEFINE_GENERIC_SENSOR(class_name)
This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
unsigned int m_COM_baud
Default=115200.
Definition: CEnoseModular.h:64
#define HWDRIVERS_IMPEXP
A definition of a CStream actually representing a USB connection to a FTDI chip.
A class for interfacing an e-NoseModular via a FTDI USB link.
Definition: CEnoseModular.h:52



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