fakeLaser : fake sensor device driver for testing purposes and reference for IRangefinder2D devices. More...

#include <fakeLaser/fakeLaser.h>

Inheritance diagram for FakeLaser:

Public Member Functions
	FakeLaser (double period=0.02)

	~FakeLaser ()

bool	open (yarp::os::Searchable &config) override
	Open the DeviceDriver. More...

bool	close () override
	Close the DeviceDriver. More...

bool	threadInit () override
	Initialization method. More...

void	threadRelease () override
	Release method. More...

void	run () override
	Loop function. More...

bool	setDistanceRange (double min, double max) override
	set the device detection range. More...

bool	setScanLimits (double min, double max) override
	set the scan angular range. More...

bool	setHorizontalResolution (double step) override
	get the angular step between two measurements (if available) More...

bool	setScanRate (double rate) override
	set the scan rate (scans per seconds) More...

bool	acquireDataFromHW () override final
	This method should be implemented by the user, and contain the logic to grab data from the hardware. More...

bool	read (yarp::os::ConnectionReader &connection) override
	Read this object from a network connection. More...

Public Member Functions inherited from yarp::os::PeriodicThread
	PeriodicThread (double period, ShouldUseSystemClock useSystemClock=ShouldUseSystemClock::No, PeriodicThreadClock clockAccuracy=PeriodicThreadClock::Relative)
	Constructor. More...

	PeriodicThread (double period, PeriodicThreadClock clockAccuracy)
	Constructor. More...

virtual	~PeriodicThread ()

bool	start ()
	Call this to start the thread. More...

void	step ()
	Call this to "step" the thread rather than starting it. More...

void	stop ()
	Call this to stop the thread, this call blocks until the thread is terminated (and releaseThread() called). More...

void	askToStop ()
	Stop the thread. More...

bool	isRunning () const
	Returns true when the thread is started, false otherwise. More...

bool	isSuspended () const
	Returns true when the thread is suspended, false otherwise. More...

bool	setPeriod (double period)
	Set the (new) period of the thread. More...

double	getPeriod () const
	Return the current period of the thread. More...

void	suspend ()
	Suspend the thread, the thread keeps running by doLoop is never executed. More...

void	resume ()
	Resume the thread if previously suspended. More...

void	resetStat ()
	Reset thread statistics. More...

double	getEstimatedPeriod () const
	Return estimated period since last reset. More...

void	getEstimatedPeriod (double &av, double &std) const
	Return estimated period since last reset. More...

unsigned int	getIterations () const
	Return the number of iterations performed since last reset. More...

double	getEstimatedUsed () const
	Return the estimated duration of the run() function since last reset. More...

void	getEstimatedUsed (double &av, double &std) const
	Return estimated duration of the run() function since last reset. More...

int	setPriority (int priority, int policy=-1)
	Set the priority and scheduling policy of the thread, if the OS supports that. More...

int	getPriority () const
	Query the current priority of the thread, if the OS supports that. More...

int	getPolicy () const
	Query the current scheduling policy of the thread, if the OS supports that. More...

Public Member Functions inherited from yarp::dev::Lidar2DDeviceBase
bool	parseConfiguration (yarp::os::Searchable &config)

	Lidar2DDeviceBase ()

bool	getRawData (yarp::sig::Vector &data, double *timestamp=nullptr) override
	Get the device measurements. More...

bool	getLaserMeasurement (std::vector< LaserMeasurementData > &data, double *timestamp=nullptr) override
	Get the device measurements. More...

bool	getDeviceStatus (Device_status &status) override
	get the device status More...

bool	getDeviceInfo (std::string &device_info) override
	get the device hardware characteristics More...

bool	getDistanceRange (double &min, double &max) override
	get the device detection range More...

bool	getScanLimits (double &min, double &max) override
	get the scan angular range. More...

bool	getHorizontalResolution (double &step) override
	get the angular step between two measurements. More...

bool	getScanRate (double &rate) override
	get the scan rate (scans per seconds) More...

Public Member Functions inherited from yarp::dev::IRangefinder2D
virtual	~IRangefinder2D ()

virtual bool	getLaserMeasurement (std::vector< LaserMeasurementData > &data, double *timestamp=nullptr)=0
	Get the device measurements. More...

virtual bool	getRawData (yarp::sig::Vector &data, double *timestamp=nullptr)=0
	Get the device measurements. More...

virtual bool	getDeviceStatus (Device_status &status)=0
	get the device status More...

virtual bool	getDistanceRange (double &min, double &max)=0
	get the device detection range More...

virtual bool	setDistanceRange (double min, double max)=0
	set the device detection range. More...

virtual bool	getScanLimits (double &min, double &max)=0
	get the scan angular range. More...

virtual bool	setScanLimits (double min, double max)=0
	set the scan angular range. More...

virtual bool	getHorizontalResolution (double &step)=0
	get the angular step between two measurements. More...

virtual bool	setHorizontalResolution (double step)=0
	get the angular step between two measurements (if available) More...

virtual bool	getScanRate (double &rate)=0
	get the scan rate (scans per seconds) More...

virtual bool	setScanRate (double rate)=0
	set the scan rate (scans per seconds) More...

virtual bool	getDeviceInfo (std::string &device_info)=0
	get the device hardware characteristics More...

Public Member Functions inherited from yarp::dev::DeviceDriver
	DeviceDriver ()

	DeviceDriver (const DeviceDriver &other)=delete

	DeviceDriver (DeviceDriver &&other) noexcept=delete

DeviceDriver &	operator= (const DeviceDriver &other)=delete

DeviceDriver &	operator= (DeviceDriver &&other) noexcept=delete

	~DeviceDriver () override

bool	open (yarp::os::Searchable &config) override
	Open the DeviceDriver. More...

bool	close () override
	Close the DeviceDriver. More...

virtual std::string	id () const
	Return the id assigned to the PolyDriver. More...

virtual void	setId (const std::string &id)
	Set the id for this device. More...

template<class T >
bool	view (T *&x)
	Get an interface to the device driver. More...

virtual DeviceDriver *	getImplementation ()
	Some drivers are bureaucrats, pointing at others. More...

Public Member Functions inherited from yarp::os::IConfig
virtual	~IConfig ()
	Destructor. More...

virtual bool	open (Searchable &config)
	Initialize the object. More...

virtual bool	close ()
	Shut the object down. More...

virtual bool	configure (Searchable &config)
	Change online parameters. More...

Public Member Functions inherited from yarp::os::PortReader
virtual	~PortReader ()
	Destructor. More...

virtual bool	read (ConnectionReader &reader)=0
	Read this object from a network connection. More...

virtual Type	getReadType () const

Protected Types
enum	test_mode_t { NO_OBSTACLES = 0 , USE_PATTERN =1 , USE_MAPFILE =2 , USE_CONSTANT_VALUE =3 }

enum	localization_mode_t { LOC_NOT_SET =0 , LOC_FROM_PORT = 1 , LOC_FROM_CLIENT = 2 }

Protected Attributes
yarp::dev::PolyDriver	driver

test_mode_t	m_test_mode

localization_mode_t	m_loc_mode

double	m_period

yarp::dev::Nav2D::MapGrid2D	m_originally_loaded_map

yarp::dev::Nav2D::MapGrid2D	m_map

yarp::os::BufferedPort< yarp::os::Bottle > *	m_loc_port

yarp::dev::PolyDriver *	m_pLoc

yarp::dev::Nav2D::ILocalization2D *	m_iLoc

double	m_robot_loc_x

double	m_robot_loc_y

double	m_robot_loc_t

std::random_device *	m_rd

std::mt19937 *	m_gen

std::uniform_real_distribution *	m_dis

double	m_const_value =1

yarp::os::Port	m_rpcPort

Protected Attributes inherited from yarp::dev::Lidar2DDeviceBase
yarp::sig::Vector	m_laser_data

yarp::os::Stamp	m_timestamp

yarp::dev::IRangefinder2D::Device_status	m_device_status

std::mutex	m_mutex

std::string	m_info

double	m_scan_rate

size_t	m_sensorsNum

double	m_min_angle

double	m_max_angle

double	m_min_distance

double	m_max_distance

double	m_resolution

bool	m_clip_max_enable

bool	m_clip_min_enable

bool	m_do_not_clip_and_allow_infinity_enable

std::vector< Range_t >	m_range_skip_vector

Additional Inherited Members
Public Types inherited from yarp::dev::IRangefinder2D
enum	Device_status { DEVICE_OK_STANBY = 0 , DEVICE_OK_IN_USE = 1 , DEVICE_GENERAL_ERROR = 2 , DEVICE_TIMEOUT = 3 }

Protected Member Functions inherited from yarp::os::PeriodicThread
virtual bool	threadInit ()
	Initialization method. More...

virtual void	threadRelease ()
	Release method. More...

virtual void	run ()=0
	Loop function. More...

virtual void	beforeStart ()
	Called just before a new thread starts. More...

virtual void	afterStart (bool success)
	Called just after a new thread starts (or fails to start), this is executed by the same thread that calls start(). More...

Protected Member Functions inherited from yarp::dev::Lidar2DDeviceBase
virtual bool	updateLidarData ()
	This utility method calls in sequence: grabDataFromHW(), updateTimestamp and applyLimitsOnLaserData(). More...

virtual bool	updateTimestamp ()
	By default, it automatically updates the internal timestamp with the yarp time. More...

virtual bool	applyLimitsOnLaserData ()
	Apply the limits on the internally stored lidar measurements. More...

virtual bool	acquireDataFromHW ()=0
	This method should be implemented by the user, and contain the logic to grab data from the hardware. More...

Detailed Description

fakeLaser : fake sensor device driver for testing purposes and reference for IRangefinder2D devices.

YARP device name
`fakeLaser`

Description of input parameters

Parameters accepted in the config argument of the open method:

Parameter name	Type	Units	Default Value	Required	Description	Notes
test	string	-	-	Yes	Choose the modality	It can be one of the following: no_obstacles, use_pattern, use_mapfile
localization_port	string	-	-	No	Full name of the port to which device connects to receive the localization data
localization_client	string	-	-	No	Full name of the local transformClient opened by the device	It cannot be used togheter if localization_port parameter is set
localization_device	string	-	-	No	Type of localization device, e.g. localization2DClient, localization2D_nwc_yarp	It cannot be used togheter if localization_port parameter is set
map_file	string	-	-	No	Full path to a .map file	Mandatory if –test use_mapfile option has been set
clip_max	double	m	3.5	No	Maximum detectable distance for an obstacle	-
clip_min	double	m	0.1	No	Minimum detectable distance for an obstacle	-
max_angle	double	deg	360	No	Angular range of the sensor	-
min_angle	double	deg	0	No	Angular range of the sensor	-
resolution	double	deg	1.0	No	Device resolution	-

examples:

yarpdev –device fakeLaser –help yarpdev –device Rangefinder2DWrapper –subdevice fakeLaser –period 10 –name /ikart/laser:o –test no_obstacles yarpdev –device Rangefinder2DWrapper –subdevice fakeLaser –period 10 –name /ikart/laser:o –test use_pattern yarpdev –device Rangefinder2DWrapper –subdevice fakeLaser –period 10 –name /ikart/laser:o –test use_mapfile –map_file mymap.map yarpdev –device Rangefinder2DWrapper –subdevice fakeLaser –period 10 –name /ikart/laser:o –test use_mapfile –map_file mymap.map –localization_port /fakeLaser/location:i yarpdev –device Rangefinder2DWrapper –subdevice fakeLaser –period 10 –name /ikart/laser:o –test use_mapfile –map_file mymap.map –localization_client /fakeLaser/localizationClient yarpdev –device rangefinder2D_nws_yarp –subdevice fakeLaser –period 0.01 –name /ikart/laser:o –test use_mapfile –map_file mymap.map –localization_client /fakeLaser/localizationClient –localization_device localization2D_nwc_yarp

Definition at line 60 of file fakeLaser.h.

Member Enumeration Documentation

◆ localization_mode_t

enum FakeLaser::localization_mode_t

protected

Enumerator
LOC_NOT_SET
LOC_FROM_PORT
LOC_FROM_CLIENT

Definition at line 67 of file fakeLaser.h.

◆ test_mode_t

enum FakeLaser::test_mode_t

protected

Enumerator
NO_OBSTACLES
USE_PATTERN
USE_MAPFILE
USE_CONSTANT_VALUE

Definition at line 66 of file fakeLaser.h.

Constructor & Destructor Documentation

◆ FakeLaser()

FakeLaser::FakeLaser ( double period = 0.02 )

inline

Definition at line 93 of file fakeLaser.h.

◆ ~FakeLaser()

FakeLaser::~FakeLaser ( )

inline

Definition at line 116 of file fakeLaser.h.

Member Function Documentation

◆ acquireDataFromHW()

bool FakeLaser::acquireDataFromHW ( )

finaloverridevirtual

This method should be implemented by the user, and contain the logic to grab data from the hardware.

Returns: true/false if the method is successful.

Implements yarp::dev::Lidar2DDeviceBase.

Definition at line 292 of file fakeLaser.cpp.

◆ close()

bool FakeLaser::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 195 of file fakeLaser.cpp.

◆ open()

bool FakeLaser::open ( yarp::os::Searchable & config )

overridevirtual

Open the DeviceDriver.

Parameters

config is a list of parameters for the device. Which parameters are effective for your device can vary. See device invocation examples. If there is no example for your device, you can run the "yarpdev" program with the verbose flag set to probe what parameters the device is checking. If that fails too, you'll need to read the source code (please nag one of the yarp developers to add documentation for your device).

Returns: true/false upon success/failure

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 34 of file fakeLaser.cpp.

◆ read()

bool FakeLaser::read ( yarp::os::ConnectionReader & reader )

overridevirtual

Read this object from a network connection.

Override this for your particular class.

Parameters

reader an interface to the network connection for reading

Returns: true iff the object is successfully read

Implements yarp::os::PortReader.

Definition at line 505 of file fakeLaser.cpp.

◆ run()

void FakeLaser::run ( )

overridevirtual

Loop function.

This is the thread itself. The thread calls the run() function every <period> ms. At the end of each run, the thread will sleep the amounth of time required, taking into account the time spent inside the loop function. Example: requested period is 10ms, the run() function take 3ms to be executed, the thread will sleep for 7ms.

Note: after each run is completed, the thread will call a yield() in order to facilitate other threads to run.

Implements yarp::os::PeriodicThread.

Definition at line 431 of file fakeLaser.cpp.

◆ setDistanceRange()

bool FakeLaser::setDistanceRange	(	double	min,
		double	max
	)

overridevirtual

set the device detection range.

Invalid setting will be discarded.

Parameters

min	the minimum detection distance
max	the maximum detection distance

Returns: true/false on success/failure.

Implements yarp::dev::IRangefinder2D.

Definition at line 209 of file fakeLaser.cpp.

◆ setHorizontalResolution()

bool FakeLaser::setHorizontalResolution ( double step )

overridevirtual

get the angular step between two measurements (if available)

Parameters

step	the angular step between two measurements

Returns: true/false on success/failure.

Implements yarp::dev::IRangefinder2D.

Definition at line 227 of file fakeLaser.cpp.

◆ setScanLimits()

bool FakeLaser::setScanLimits	(	double	min,
		double	max
	)

overridevirtual

set the scan angular range.

Parameters

min	start angle of the scan
max	end angle of the scan

Returns: true/false on success/failure.

Implements yarp::dev::IRangefinder2D.

Definition at line 218 of file fakeLaser.cpp.

◆ setScanRate()

bool FakeLaser::setScanRate ( double rate )

overridevirtual

set the scan rate (scans per seconds)

Parameters

rate	the scan rate

Returns: true/false on success/failure.

Implements yarp::dev::IRangefinder2D.

Definition at line 235 of file fakeLaser.cpp.

◆ threadInit()

bool FakeLaser::threadInit ( )

overridevirtual

Initialization method.

The thread executes this function when it starts and before "run". This is a good place to perform initialization tasks that need to be done by the thread itself (device drivers initialization, memory allocation etc). If the function returns false the thread quits and never calls "run". The return value of threadInit() is notified to the class and passed as a parameter to afterStart(). Note that afterStart() is called by the same thread that is executing the "start" method.

Reimplemented from yarp::os::PeriodicThread.

Definition at line 243 of file fakeLaser.cpp.

◆ threadRelease()

void FakeLaser::threadRelease ( )

overridevirtual

Release method.

The thread executes this function once when it exits, after the last "run". This is a good place to release resources that were initialized in threadInit() (release memory, and device driver resources).

Reimplemented from yarp::os::PeriodicThread.

Definition at line 725 of file fakeLaser.cpp.

Member Data Documentation

◆ driver

yarp::dev::PolyDriver FakeLaser::driver

protected

Definition at line 69 of file fakeLaser.h.

◆ m_const_value

double FakeLaser::m_const_value =1

protected

Definition at line 88 of file fakeLaser.h.

◆ m_dis

std::uniform_real_distribution* FakeLaser::m_dis

protected

Definition at line 87 of file fakeLaser.h.

◆ m_gen

std::mt19937* FakeLaser::m_gen

protected

Definition at line 86 of file fakeLaser.h.

◆ m_iLoc

yarp::dev::Nav2D::ILocalization2D* FakeLaser::m_iLoc

protected

Definition at line 78 of file fakeLaser.h.

◆ m_loc_mode

localization_mode_t FakeLaser::m_loc_mode

protected

Definition at line 71 of file fakeLaser.h.

◆ m_loc_port

yarp::os::BufferedPort<yarp::os::Bottle>* FakeLaser::m_loc_port

protected

Definition at line 76 of file fakeLaser.h.

◆ m_map

yarp::dev::Nav2D::MapGrid2D FakeLaser::m_map

protected

Definition at line 75 of file fakeLaser.h.

◆ m_originally_loaded_map

yarp::dev::Nav2D::MapGrid2D FakeLaser::m_originally_loaded_map

protected

Definition at line 74 of file fakeLaser.h.

◆ m_period

double FakeLaser::m_period

protected

Definition at line 73 of file fakeLaser.h.

◆ m_pLoc

yarp::dev::PolyDriver* FakeLaser::m_pLoc

protected

Definition at line 77 of file fakeLaser.h.

◆ m_rd

std::random_device* FakeLaser::m_rd

protected

Definition at line 85 of file fakeLaser.h.

◆ m_robot_loc_t

double FakeLaser::m_robot_loc_t

protected

Definition at line 83 of file fakeLaser.h.

◆ m_robot_loc_x

double FakeLaser::m_robot_loc_x

protected

Definition at line 81 of file fakeLaser.h.

◆ m_robot_loc_y

double FakeLaser::m_robot_loc_y

protected

Definition at line 82 of file fakeLaser.h.

◆ m_rpcPort

yarp::os::Port FakeLaser::m_rpcPort

protected

Definition at line 90 of file fakeLaser.h.

◆ m_test_mode

test_mode_t FakeLaser::m_test_mode

protected

Definition at line 70 of file fakeLaser.h.

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

src/devices/fakeLaser/fakeLaser.h
src/devices/fakeLaser/fakeLaser.cpp

Public Member Functions

Protected Types

Protected Attributes

Additional Inherited Members

Detailed Description

Description of input parameters

examples:

Member Enumeration Documentation

◆ localization_mode_t

◆ test_mode_t

Constructor & Destructor Documentation

◆ FakeLaser()

◆ ~FakeLaser()

Member Function Documentation

◆ acquireDataFromHW()

◆ close()

◆ open()

◆ read()

◆ run()

◆ setDistanceRange()

◆ setHorizontalResolution()

◆ setScanLimits()

◆ setScanRate()

◆ threadInit()

◆ threadRelease()

Member Data Documentation

◆ driver

◆ m_const_value

◆ m_dis

◆ m_gen

◆ m_iLoc

◆ m_loc_mode

◆ m_loc_port

◆ m_map

◆ m_originally_loaded_map

◆ m_period

◆ m_pLoc

◆ m_rd

◆ m_robot_loc_t

◆ m_robot_loc_x

◆ m_robot_loc_y

◆ m_rpcPort

◆ m_test_mode