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

#include <fake/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.

bool	close () override
	Close the DeviceDriver.

bool	threadInit () override
	Initialization method.

void	threadRelease () override
	Release method.

void	run () override
	Loop function.

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

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

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

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

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

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

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

	PeriodicThread (double period, PeriodicThreadClock clockAccuracy)
	Constructor.

virtual	~PeriodicThread ()

bool	start ()
	Call this to start the thread.

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

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

void	askToStop ()
	Stop the thread.

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

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

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

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

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

void	resume ()
	Resume the thread if previously suspended.

void	resetStat ()
	Reset thread statistics.

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

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

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

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

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

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

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

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

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.

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

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

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

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

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

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

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

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

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

virtual	~DeviceDriver ()

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

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

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

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

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

virtual Type	getReadType () const

Public Member Functions inherited from FakeLaser_ParamsParser
	FakeLaser_ParamsParser ()

	~FakeLaser_ParamsParser () override=default

bool	parseParams (const yarp::os::Searchable &config) override
	Parse the DeviceDriver parameters.

std::string	getDeviceClassName () const override
	Get the name of the DeviceDriver class.

std::string	getDeviceName () const override
	Get the name of the device (i.e.

std::string	getDocumentationOfDeviceParams () const override
	Get the documentation of the DeviceDriver's parameters.

std::vector< std::string >	getListOfParams () const override
	Return a list of all params used by the device.

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

Protected Types
enum	test_mode_t { NO_OBSTACLES = 0 , USE_PATTERN =1 , USE_MAPFILE =2 , USE_CONSTANT_VALUE =3 , USE_SQUARE_TRAP =4 }

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

Protected Attributes
test_mode_t	m_test_mode

localization_mode_t	m_loc_mode

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

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_STANDBY = 0 , DEVICE_OK_IN_USE = 1 , DEVICE_GENERAL_ERROR = 2 , DEVICE_TIMEOUT = 3 }

Public Attributes inherited from FakeLaser_ParamsParser
const std::string	m_device_classname = {"FakeLaser"}

const std::string	m_device_name = {"fakeLaser"}

bool	m_parser_is_strict = false

const parser_version_type	m_parser_version = {}

const std::string	m_test_defaultValue = {"use_pattern"}

const std::string	m_localization_port_defaultValue = {"/fakeLaser/location:i"}

const std::string	m_localization_server_defaultValue = {"/localizationServer"}

const std::string	m_localization_client_defaultValue = {"/fakeLaser/localizationClient"}

const std::string	m_localization_device_defaultValue = {"localization2DClient"}

const std::string	m_MAP_MODE_map_file_defaultValue = {""}

const std::string	m_MAP_MODE_map_context_defaultValue = {""}

const std::string	m_clip_max_defaultValue = {"3.5"}

const std::string	m_clip_min_defaultValue = {"0.1"}

const std::string	m_GENERAL_period_defaultValue = {"0.02"}

const std::string	m_CONSTANT_MODE_const_distance_defaultValue = {"1"}

std::string	m_test = {"use_pattern"}

std::string	m_localization_port = {"/fakeLaser/location:i"}

std::string	m_localization_server = {"/localizationServer"}

std::string	m_localization_client = {"/fakeLaser/localizationClient"}

std::string	m_localization_device = {"localization2DClient"}

std::string	m_MAP_MODE_map_file = {}

std::string	m_MAP_MODE_map_context = {}

double	m_clip_max = {3.5}

double	m_clip_min = {0.1}

double	m_GENERAL_period = {0.02}

double	m_CONSTANT_MODE_const_distance = {1}

Protected Member Functions inherited from yarp::os::PeriodicThread
virtual void	beforeStart ()
	Called just before a new thread starts.

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().

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

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

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

Detailed Description

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

Parameters required by this device are shown in class: FakeLaser_ParamsParser

examples:

yarpdev –device fakeLaser –help yarpdev –device rangefinder2D_nws_yarp –subdevice fakeLaser –period 0.01 –name /ikart/laser:o –test no_obstacles yarpdev –device rangefinder2D_nws_yarp –subdevice fakeLaser –period 0.01 –name /ikart/laser:o –test use_pattern yarpdev –device rangefinder2D_nws_yarp –subdevice fakeLaser –period 0.01 –name /ikart/laser:o –test use_mapfile –map_file mymap.map yarpdev –device rangefinder2D_nws_yarp –subdevice fakeLaser –period 0.01 –name /ikart/laser:o –test use_mapfile –map_file mymap.map –localization_port /fakeLaser/location:i 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 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 44 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 52 of file FakeLaser.h.

◆ test_mode_t

enum FakeLaser::test_mode_t

protected

Enumerator
NO_OBSTACLES
USE_PATTERN
USE_MAPFILE
USE_CONSTANT_VALUE
USE_SQUARE_TRAP

Definition at line 51 of file FakeLaser.h.

Constructor & Destructor Documentation

◆ FakeLaser()

FakeLaser::FakeLaser ( double period = 0.02 )

inline

Definition at line 75 of file FakeLaser.h.

◆ ~FakeLaser()

FakeLaser::~FakeLaser ( )

inline

Definition at line 99 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 297 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 202 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 32 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 510 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 436 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 214 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 232 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 223 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 240 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 248 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 730 of file FakeLaser.cpp.

Member Data Documentation

◆ m_dis

std::uniform_real_distribution* FakeLaser::m_dis

protected

Definition at line 70 of file FakeLaser.h.

◆ m_gen

std::mt19937* FakeLaser::m_gen

protected

Definition at line 69 of file FakeLaser.h.

◆ m_iLoc

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

protected

Definition at line 61 of file FakeLaser.h.

◆ m_loc_mode

localization_mode_t FakeLaser::m_loc_mode

protected

Definition at line 55 of file FakeLaser.h.

◆ m_loc_port

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

protected

Definition at line 59 of file FakeLaser.h.

◆ m_map

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

protected

Definition at line 58 of file FakeLaser.h.

◆ m_originally_loaded_map

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

protected

Definition at line 57 of file FakeLaser.h.

◆ m_pLoc

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

protected

Definition at line 60 of file FakeLaser.h.

◆ m_rd

std::random_device* FakeLaser::m_rd

protected

Definition at line 68 of file FakeLaser.h.

◆ m_robot_loc_t

double FakeLaser::m_robot_loc_t

protected

Definition at line 66 of file FakeLaser.h.

◆ m_robot_loc_x

double FakeLaser::m_robot_loc_x

protected

Definition at line 64 of file FakeLaser.h.

◆ m_robot_loc_y

double FakeLaser::m_robot_loc_y

protected

Definition at line 65 of file FakeLaser.h.

◆ m_rpcPort

yarp::os::Port FakeLaser::m_rpcPort

protected

Definition at line 72 of file FakeLaser.h.

◆ m_test_mode

test_mode_t FakeLaser::m_test_mode

protected

Definition at line 54 of file FakeLaser.h.

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

src/devices/fake/fakeLaser/FakeLaser.h
src/devices/fake/fakeLaser/FakeLaser.cpp

Public Member Functions

Protected Types

Protected Attributes

Additional Inherited Members

Detailed Description

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

◆ m_dis

◆ m_gen

◆ m_iLoc

◆ m_loc_mode

◆ m_loc_port

◆ m_map

◆ m_originally_loaded_map

◆ m_pLoc

◆ m_rd

◆ m_robot_loc_t

◆ m_robot_loc_x

◆ m_robot_loc_y

◆ m_rpcPort

◆ m_test_mode