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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:

mrpt::utils::CUncopiable mrpt::hwdrivers::C2DRangeFinderAbstract mrpt::hwdrivers::CActivMediaRobotBase mrpt::hwdrivers::CBoardDLMS mrpt::hwdrivers::CCameraSensor mrpt::hwdrivers::CGPSInterface mrpt::hwdrivers::CIMUXSens mrpt::hwdrivers::CPtuHokuyo mrpt::hwdrivers::CHokuyoURG mrpt::hwdrivers::CSickLaserUSB

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 CGenericSensorcreateSensor (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.


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:

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.


Member Typedef Documentation

Definition at line 63 of file CGenericSensor.h.

Definition at line 64 of file CGenericSensor.h.


Member Enumeration Documentation

The current state of the sensor.

See also:
CGenericSensor::getState
Enumerator:
ssInitializing 
ssWorking 
ssError 

Definition at line 69 of file CGenericSensor.h.


Constructor & Destructor Documentation

mrpt::hwdrivers::CGenericSensor::CGenericSensor (  ) 

Constructor.

virtual mrpt::hwdrivers::CGenericSensor::~CGenericSensor (  )  [virtual]

Destructor.


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...


Member Data Documentation

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.

The queue of objects to be returned by getObservations.

Definition at line 83 of file CGenericSensor.h.

Definition at line 92 of file CGenericSensor.h.




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