This "software driver" implements the communication protocol for interfacing a SICK LMS100 laser scanners through an ethernet controller.
This class does not need to be bind, i.e. you do not need to call C2DRangeFinderAbstract::bindIO. Connection is established when user call the turnOn() method. You can pass to the class's constructor the LMS100 's ip address and port. Device will be configured with the following parameters :
Important note: SICK LMS 1xx devices have two levels of configuration. In its present implementation, this class only handles one of them, so before using this class, you must "pre-configure" your scanner with the SICK's software "SOAP" (this software ships with the device), and set the framerate with this software. Of course, you have to pre-configure the device just once, then save that configuration in its flash memory.
To get a laser scan you must proceed like that :
The sensor pose on the vehicle could be loaded from an ini configuration file with :
This class doesn't configure the SICK LMS sensor, it is recomended to configure the sensor via the the SICK software : SOPAS.
Definition at line 63 of file CLMS100eth.h.
#include <mrpt/hwdrivers/CLMS100eth.h>
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 | |
CLMS100Eth (std::string _ip=std::string("192.168.0.1"), unsigned int _port=2111) | |
Constructor. | |
virtual | ~CLMS100Eth () |
Destructor. | |
void | doProcessSimple (bool &outThereIsObservation, mrpt::obs::CObservation2DRangeScan &outObservation, bool &hardwareError) |
This function acquire a laser scan from the device. | |
bool | turnOn () |
This method must be called before trying to get a laser scan. | |
bool | turnOff () |
This method could be called manually to stop communication with the device. | |
void | setSensorPose (const mrpt::poses::CPose3D &_pose) |
A method to set the sensor pose on the robot. | |
void | doProcess () |
This method should be called periodically. | |
void | initialize () |
Initialize the sensor according to the parameters previously read in the configuration file. | |
void | showPreview (bool enable=true) |
Enables GUI visualization in real-time. | |
void | bindIO (mrpt::utils::CStream *streamIO) |
Binds the object to a given I/O channel. | |
void | getObservation (bool &outThereIsObservation, mrpt::obs::CObservation2DRangeScan &outObservation, bool &hardwareError) |
Get the last observation from the sensor, if available, and unmarks it as being "the last one" (thus a new scan must arrive or subsequent calls will find no new observations). | |
virtual const mrpt::hwdrivers::TSensorClassId * | GetRuntimeClass () const =0 |
TSensorState | getState () const |
The current state of the sensor | |
double | getProcessRate () const |
std::string | getSensorLabel () const |
void | setSensorLabel (const std::string &sensorLabel) |
void | enableVerbose (bool enabled=true) |
Enable or disable extra debug info dumped to std::cout during sensor operation. | |
bool | isVerboseEnabled () const |
void | loadConfig (const mrpt::utils::CConfigFileBase &configSource, const std::string §ion) |
Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific". | |
void | getObservations (TListObservations &lstObjects) |
Returns a list of enqueued objects, emptying it (thread-safe). | |
virtual void | setPathForExternalImages (const std::string &directory) |
Set the path where to save off-rawlog image files (will be ignored in those sensors where this is not applicable). | |
void | setExternalImageFormat (const std::string &ext) |
Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg". | |
void | setExternalImageJPEGQuality (const unsigned int quality) |
The quality of JPEG compression, when external images is enabled and the format is "jpg". | |
unsigned int | getExternalImageJPEGQuality () const |
Static Public Member Functions | |
static void | printf_debug (const char *frmt,...) |
Sends a formated text to "debugOut" if not NULL, or to cout otherwise. | |
static void | registerClass (const TSensorClassId *pNewClass) |
Register a class into the internal list of "CGenericSensor" descendents. | |
static CGenericSensor * | createSensor (const std::string &className) |
Creates a sensor by a name of the class. | |
static CGenericSensorPtr | createSensorPtr (const std::string &className) |
Just like createSensor, but returning a smart pointer to the newly created sensor object. | |
Protected Member Functions | |
void | loadConfig_sensorSpecific (const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection) |
Load sensor pose on the robot, or keep the default sensor pose. | |
void | loadCommonParams (const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection) |
Should be call by derived classes at "loadConfig" (loads exclusion areas AND exclusion angles). | |
void | filterByExclusionAreas (mrpt::obs::CObservation2DRangeScan &obs) const |
Mark as invalid those points which (x,y) coordinates fall within the exclusion polygons. | |
void | filterByExclusionAngles (mrpt::obs::CObservation2DRangeScan &obs) const |
Mark as invalid those ranges in a set of forbiden angle ranges. | |
void | processPreview (const mrpt::obs::CObservation2DRangeScan &obs) |
Must be called inside the capture method to allow optional GUI preview of scans. | |
void | appendObservations (const std::vector< 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. | |
void | appendObservation (const mrpt::utils::CSerializablePtr &obj) |
Like appendObservations() but for just one observation. | |
Protected Attributes | |
utils::CStream * | m_stream |
The I/O channel (will be NULL if not bound). | |
size_t | m_grab_decimation_counter |
Used when "m_grab_decimation" is enabled. | |
TSensorState | m_state |
bool | m_verbose |
std::string | m_path_for_external_images |
The path where to save off-rawlog images: empty means save images embedded in the rawlog. | |
std::string | m_external_images_format |
The extension ("jpg","gif","png",...) that determines the format of images saved externally. | |
unsigned int | m_external_images_jpeg_quality |
For JPEG images, the quality (default=95%). | |
Common settings to any sensor, loaded in "loadConfig" | |
double | m_process_rate |
See CGenericSensor. | |
size_t | m_max_queue_len |
See CGenericSensor. | |
size_t | m_grab_decimation |
If set to N>=2, only 1 out of N observations will be saved to m_objList. | |
std::string | m_sensorLabel |
See CGenericSensor. | |
Private Member Functions | |
void | generateCmd (const char *cmd) |
bool | checkIsConnected () |
bool | decodeLogIn (char *msg) |
bool | decodeScanCfg (std::istringstream &stream) |
bool | decodeScanDataCfg (std::istringstream &stream) |
bool | decodeScan (char *buf, mrpt::obs::CObservation2DRangeScan &outObservation) |
void | sendCommand (const char *cmd) |
void | roughPrint (char *msg) |
Private Attributes | |
std::string | m_ip |
unsigned int | m_port |
mrpt::utils::CClientTCPSocket | m_client |
bool | m_turnedOn |
std::string | m_cmd |
bool | m_connected |
unsigned int | m_scanFrequency |
double | m_angleResolution |
double | m_startAngle |
double | m_stopAngle |
mrpt::poses::CPose3D | m_sensorPose |
double | m_maxRange |
double | m_beamApperture |
mrpt::obs::CObservation2DRangeScan | m_lastObservation |
bool | m_lastObservationIsNew |
bool | m_hardwareError |
synch::CCriticalSection | m_csChangeStream |
For being thread-safe. | |
synch::CCriticalSection | m_csLastObservation |
mrpt::obs::CObservation2DRangeScanPtr | m_nextObservation |
A dynamic object used as buffer in doProcess. | |
mrpt::obs::CObservation2DRangeScan::TListExclusionAreasWithRanges | m_lstExclusionPolys |
A list of optional exclusion polygons, in coordinates relative to the vehicle, that is, taking into account the "sensorPose". | |
std::vector< std::pair< double, double > > | m_lstExclusionAngles |
A list of pairs of angles <init,end> such as all sensor ranges falling in those forbiden angles will be marked as invalid. | |
bool | m_showPreview |
If true, shows a 3D window with a preview of the grabber data. | |
mrpt::gui::CDisplayWindow3DPtr | m_win |
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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inherited |
Definition at line 68 of file CGenericSensor.h.
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inherited |
Definition at line 69 of file CGenericSensor.h.
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inherited |
The current state of the sensor.
Enumerator | |
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ssInitializing | |
ssWorking | |
ssError |
Definition at line 74 of file CGenericSensor.h.
mrpt::hwdrivers::CLMS100Eth::CLMS100Eth | ( | std::string | _ip = std::string("192.168.0.1") , |
unsigned int | _port = 2111 |
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) |
Constructor.
Note that there is default arguments, here you can customize IP Adress and TCP Port of your device.
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virtual |
Destructor.
Close communcation with the device, and free memory.
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inlineprotectedinherited |
Like appendObservations() but for just one observation.
Definition at line 146 of file CGenericSensor.h.
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protectedinherited |
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:
If several observations are passed at once in the vector, they'll be considered as a block regarding the grabbing decimation factor.
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inherited |
Binds the object to a given I/O channel.
The stream object must not be deleted before the destruction of this class.
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private |
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staticinherited |
Creates a sensor by a name of the class.
Typically the user may want to create a smart pointer around the returned pointer, whis is made with:
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inlinestaticinherited |
Just like createSensor, but returning a smart pointer to the newly created sensor object.
Definition at line 179 of file CGenericSensor.h.
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private |
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private |
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private |
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private |
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virtual |
This method should be called periodically.
Period depend on the process_rate in the configuration file.
Reimplemented from mrpt::hwdrivers::C2DRangeFinderAbstract.
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virtual |
This function acquire a laser scan from the device.
If an error occured, hardwareError will be set to true. The new laser scan will be stored in the outObservation argument.
This | method throw exception if the frame received from the LMS 100 contain the following bad parameters :
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Implements mrpt::hwdrivers::C2DRangeFinderAbstract.
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inlineinherited |
Enable or disable extra debug info dumped to std::cout during sensor operation.
Default: disabled unless the environment variable "MRPT_HWDRIVERS_VERBOSE" is set to "1" during object creation.
Definition at line 92 of file CGenericSensor.h.
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protectedinherited |
Mark as invalid those ranges in a set of forbiden angle ranges.
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protectedinherited |
Mark as invalid those points which (x,y) coordinates fall within the exclusion polygons.
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private |
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inlineinherited |
Definition at line 233 of file CGenericSensor.h.
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inherited |
Get the last observation from the sensor, if available, and unmarks it as being "the last one" (thus a new scan must arrive or subsequent calls will find no new observations).
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inherited |
Returns a list of enqueued objects, emptying it (thread-safe).
The objects must be freed by the invoker.
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inlineinherited |
Definition at line 84 of file CGenericSensor.h.
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pure virtualinherited |
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inlineinherited |
Definition at line 86 of file CGenericSensor.h.
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inlineinherited |
The current state of the sensor
Definition at line 82 of file CGenericSensor.h.
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virtual |
Initialize the sensor according to the parameters previously read in the configuration file.
Reimplemented from mrpt::hwdrivers::CGenericSensor.
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inlineinherited |
Definition at line 93 of file CGenericSensor.h.
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protectedinherited |
Should be call by derived classes at "loadConfig" (loads exclusion areas AND exclusion angles).
This loads a sequence of vertices of a polygon given by its (x,y) coordinates relative to the vehicle, that is, taking into account the "sensorPose".
The number of zones is variable, but they must start at 1 and be consecutive.
This also loads any other common params (e.g. 'preview')
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inherited |
Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific".
This | method throws an exception with a descriptive message if some critical parameter is missing or has an invalid value. |
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protectedvirtual |
Load sensor pose on the robot, or keep the default sensor pose.
Implements mrpt::hwdrivers::CGenericSensor.
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staticinherited |
Sends a formated text to "debugOut" if not NULL, or to cout otherwise.
Referenced by mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute().
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protectedinherited |
Must be called inside the capture method to allow optional GUI preview of scans.
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staticinherited |
Register a class into the internal list of "CGenericSensor" descendents.
Used internally in the macros DEFINE_GENERIC_SENSOR, etc...
Can be used as "CGenericSensor::registerClass( SENSOR_CLASS_ID(CMySensor) );" if building custom sensors outside mrpt libraries in user code.
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private |
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private |
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inlineinherited |
Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg".
Definition at line 225 of file CGenericSensor.h.
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inlineinherited |
The quality of JPEG compression, when external images is enabled and the format is "jpg".
Definition at line 230 of file CGenericSensor.h.
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inlinevirtualinherited |
Set the path where to save off-rawlog image files (will be ignored in those sensors where this is not applicable).
An empty string (the default value at construction) means to save images embedded in the rawlog, instead of on separate files.
std::exception | If the directory doesn't exists and cannot be created. |
Reimplemented in mrpt::hwdrivers::CCameraSensor, mrpt::hwdrivers::CKinect, mrpt::hwdrivers::COpenNI2_RGBD360, mrpt::hwdrivers::COpenNI2Sensor, and mrpt::hwdrivers::CSwissRanger3DCamera.
Definition at line 216 of file CGenericSensor.h.
References MRPT_UNUSED_PARAM.
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inlineinherited |
Definition at line 87 of file CGenericSensor.h.
void mrpt::hwdrivers::CLMS100Eth::setSensorPose | ( | const mrpt::poses::CPose3D & | _pose | ) |
A method to set the sensor pose on the robot.
Equivalent to setting the sensor pose via loading it from a config file.
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inlineinherited |
Enables GUI visualization in real-time.
Definition at line 95 of file C2DRangeFinderAbstract.h.
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virtual |
This method could be called manually to stop communication with the device.
Method is also called by destructor.
Implements mrpt::hwdrivers::C2DRangeFinderAbstract.
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virtual |
This method must be called before trying to get a laser scan.
Implements mrpt::hwdrivers::C2DRangeFinderAbstract.
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private |
Definition at line 111 of file CLMS100eth.h.
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private |
Definition at line 116 of file CLMS100eth.h.
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private |
Definition at line 106 of file CLMS100eth.h.
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private |
Definition at line 108 of file CLMS100eth.h.
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private |
Definition at line 109 of file CLMS100eth.h.
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privateinherited |
For being thread-safe.
Definition at line 47 of file C2DRangeFinderAbstract.h.
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privateinherited |
Definition at line 47 of file C2DRangeFinderAbstract.h.
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privateinherited |
The critical section for m_objList.
Definition at line 104 of file CGenericSensor.h.
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protectedinherited |
The extension ("jpg","gif","png",...) that determines the format of images saved externally.
Definition at line 130 of file CGenericSensor.h.
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protectedinherited |
For JPEG images, the quality (default=95%).
Definition at line 131 of file CGenericSensor.h.
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protectedinherited |
If set to N>=2, only 1 out of N observations will be saved to m_objList.
Definition at line 117 of file CGenericSensor.h.
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protectedinherited |
Used when "m_grab_decimation" is enabled.
Definition at line 122 of file CGenericSensor.h.
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privateinherited |
Definition at line 43 of file C2DRangeFinderAbstract.h.
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private |
Definition at line 104 of file CLMS100eth.h.
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staticprivateinherited |
Used in registerClass.
Definition at line 108 of file CGenericSensor.h.
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privateinherited |
Definition at line 41 of file C2DRangeFinderAbstract.h.
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privateinherited |
Definition at line 42 of file C2DRangeFinderAbstract.h.
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privateinherited |
A list of pairs of angles <init,end> such as all sensor ranges falling in those forbiden angles will be marked as invalid.
Definition at line 52 of file C2DRangeFinderAbstract.h.
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privateinherited |
A list of optional exclusion polygons, in coordinates relative to the vehicle, that is, taking into account the "sensorPose".
Definition at line 51 of file C2DRangeFinderAbstract.h.
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protectedinherited |
See CGenericSensor.
Definition at line 116 of file CGenericSensor.h.
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private |
Definition at line 115 of file CLMS100eth.h.
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privateinherited |
A dynamic object used as buffer in doProcess.
Definition at line 49 of file C2DRangeFinderAbstract.h.
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privateinherited |
The queue of objects to be returned by getObservations.
Definition at line 105 of file CGenericSensor.h.
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protectedinherited |
The path where to save off-rawlog images: empty means save images embedded in the rawlog.
Definition at line 129 of file CGenericSensor.h.
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private |
Definition at line 105 of file CLMS100eth.h.
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protectedinherited |
See CGenericSensor.
Definition at line 115 of file CGenericSensor.h.
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private |
Definition at line 110 of file CLMS100eth.h.
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protectedinherited |
See CGenericSensor.
Definition at line 118 of file CGenericSensor.h.
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private |
Definition at line 114 of file CLMS100eth.h.
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privateinherited |
If true, shows a 3D window with a preview of the grabber data.
Definition at line 54 of file C2DRangeFinderAbstract.h.
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private |
Definition at line 112 of file CLMS100eth.h.
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protectedinherited |
Definition at line 124 of file CGenericSensor.h.
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private |
Definition at line 113 of file CLMS100eth.h.
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protectedinherited |
The I/O channel (will be NULL if not bound).
Definition at line 58 of file C2DRangeFinderAbstract.h.
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private |
Definition at line 107 of file CLMS100eth.h.
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protectedinherited |
Definition at line 125 of file CGenericSensor.h.
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privateinherited |
Definition at line 55 of file C2DRangeFinderAbstract.h.
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