jafar::rtslam::hardware::HardwareSensorAbstract< T > Class Template Reference

Generic implementation of hardware sensor based on ring buffer. More...

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Detailed Description

template<typename T>
class jafar::rtslam::hardware::HardwareSensorAbstract< T >

Generic implementation of hardware sensor based on ring buffer.

You need to inherit this class and start in the constructor a thread that will read the sensor, fill the ring buffer, and notify the condition variable when a new reading arrives.

TODO should be improved to be able to not fail if it overflows and that it should not be fatal but just throw away oldest data. 3 policies on overflow: fail, ignore/loop, block (for offline)

Definition at line 101 of file hardwareSensorAbstract.hpp.

#include <hardwareSensorAbstract.hpp>

List of all members.

Public Types
typedef ublas::vector< T >	VecT
typedef ublas::vector_indirect < VecT >	VecIndT
Public Member Functions
	HardwareSensorAbstract (kernel::VariableCondition< int > *condition, Mode mode, unsigned bufferSize)
	Constructor.
virtual void	start ()=0
	start the acquisition thread, once the object is configured
virtual void	stop ()=0
	stop the acquisition thread
virtual bool	join (int timed_ms=-1)=0
	wait that the acquisition thread has finished
bool	stopped ()
bool	initialized ()
void	setSyncConfig (double timestamps_correction=0.0)
virtual void	getTimingInfos (double &data_period, double &arrival_delay, bool locked=false)
	Provides approximate informations about the timings of data.
virtual void	setTimingInfos (double data_period, double arrival_delay)
virtual double	getLastTimestamp ()=0
virtual void	showInfos ()
virtual VecIndT	getRaws (double t1, double t2, bool release=true)
	will also release the raws before the first one if release is true
virtual int	getUnreadRawInfos (RawInfos &infos)
	get timing informations about unread raws
virtual int	getNextRawInfo (RawInfo &info)
	get info about next unread raw
virtual void	getRaw (unsigned id, T &raw)
	will also release the raws before this one
virtual void	observeRaw (unsigned id, T &raw)
	get raw but doesn't release raws before
virtual double	getRawTimestamp (unsigned id)
virtual int	getLastUnreadRaw (T &raw)
	will also release the raws before this one
virtual void	getLastProcessedRaw (T &raw)
	for information only (display...)
virtual void	release ()
virtual void	enable (bool enabled=true)
void	stopDumping ()
Protected Member Functions
int	getWritePos (bool locked=false)
	the ring buffer
void	incWritePos (bool locked=false)
int	getFirstUnreadPos ()
int	getLastUnreadPos (bool locked=false)
void	releaseUntil (unsigned id, bool locked=false)
	release until id, excluding id
void	release (unsigned id, bool locked=false)
	release until id, including id
bool	isFull (bool locked=false)
bool	isEmpty (bool locked=false)
void	update_arrival_delay (double delay)
Protected Attributes
kernel::VariableCondition< int > *	condition
	current read_pos is being used
kernel::VariableCondition< int >	index
	to notify when new data is available
boost::mutex	mutex_data
	index of used data
boost::condition_variable	cond_offline_full
	mutex for using this object
boost::condition_variable	cond_offline_freed
int	data_count
int	last_sent_pos
	image count since last image read
bool	no_more_data
	position of the last raw sent
double	timestamps_correction
double	data_period
double	arrival_delays [narrival_delays]
int	iarrival_delay
double	arrival_delay
bool	started
bool	stopping
	has the start() command been already run ?
bool	enabled
bool	initialized_
	whether the sensor is enabled or not
Mode	mode
	whether the sensor is correctly initialized and working correctly
int	bufferSize
VecT	buffer
	size of the ring buffer
Private Attributes
int	write_pos
int	read_pos
	next position where to write, oldest available reading
bool	buffer_full
	oldest position not released (being read or not read at all)
bool	read_pos_used
	when read_pos = write_pos, tells whether the buffer is full or empty
Friends
class	rtslam::SensorProprioAbstract
class	rtslam::SensorExteroAbstract

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Constructor & Destructor Documentation

template<typename T>

jafar::rtslam::hardware::HardwareSensorAbstract< T >::HardwareSensorAbstract	(	kernel::VariableCondition< int > *	condition,
		Mode	mode,
		unsigned	bufferSize
	)		[inline]

Constructor.

Parameters:

condition

to notify when new data is available

Definition at line 209 of file hardwareSensorAbstract.hpp.

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Member Function Documentation

template<typename T>

int jafar::rtslam::hardware::HardwareSensorAbstract< T >::getFirstUnreadPos

(

)

[inline, protected]

Warning:

check that buffer is not empty before

Definition at line 154 of file hardwareSensorAbstract.hpp.

Referenced by jafar::rtslam::hardware::HardwareSensorAbstract< RawVec >::releaseUntil().

template<typename T>

int jafar::rtslam::hardware::HardwareSensorAbstract< T >::getLastUnreadPos

(

bool

locked = false

)

[inline, protected]

Warning:

check that buffer is not empty before

Definition at line 160 of file hardwareSensorAbstract.hpp.

template<typename T>

virtual void jafar::rtslam::hardware::HardwareSensorAbstract< T >::getTimingInfos	(	double &	data_period,
		double &	arrival_delay,
		bool	locked = false
	)		[inline, virtual]

Provides approximate informations about the timings of data.

Parameters:

data_period	the period at which the data are arriving
arrival_delay	the delay between the moment we get a data and its real date. This is a starting point that must be overestimated, it may be estimated more precisely afterwards.

Definition at line 230 of file hardwareSensorAbstract.hpp.

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Member Data Documentation

template<typename T>

bool jafar::rtslam::hardware::HardwareSensorAbstract< T >::stopping [protected]

has the start() command been already run ?

the stop() command has been run, we should stop reading data No need to protect it with a mutex for two reasons: 1. assigning and reading a boolean is an indivisible operation 2. boolean have only two possible values, so even if read/write clash was possible it wouldn't hurt

Definition at line 134 of file hardwareSensorAbstract.hpp.

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The documentation for this class was generated from the following file:

• modules/rtslam/include/rtslam/hardwareSensorAbstract.hpp