imuBosch_BNO055: This device will connect to the proper analogServer and read the data broadcasted making them available to use for the user application. More...

#include <imuBosch_BNO055/imuBosch_BNO055.h>

Inheritance diagram for BoschIMU:

Public Member Functions
	BoschIMU ()

	~BoschIMU ()

bool	open (yarp::os::Searchable &config) override
	Open the device and set up parameters/communication. More...

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

bool	read (yarp::sig::Vector &out) override
	Read a vector from the sensor. More...

bool	getChannels (int *nc) override
	Get the number of channels of the sensor. More...

bool	calibrate (int ch, double v) override
	Calibrate the sensor, single channel. More...

size_t	getNrOfThreeAxisGyroscopes () const override
	Get the number of three axis gyroscopes in the device. More...

yarp::dev::MAS_status	getThreeAxisGyroscopeStatus (size_t sens_index) const override
	Get the status of three axis gyroscope. More...

bool	getThreeAxisGyroscopeName (size_t sens_index, std::string &name) const override
	Get the name of three axis gyroscope. More...

bool	getThreeAxisGyroscopeFrameName (size_t sens_index, std::string &frameName) const override
	Get the name of the frame in which three axis gyroscope measurements are expressed. More...

bool	getThreeAxisGyroscopeMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
	Get three axis gyroscope measurements. More...

size_t	getNrOfThreeAxisLinearAccelerometers () const override
	Get the number of three axis linear accelerometers in the device. More...

yarp::dev::MAS_status	getThreeAxisLinearAccelerometerStatus (size_t sens_index) const override
	Get the status of three axis linear accelerometer. More...

bool	getThreeAxisLinearAccelerometerName (size_t sens_index, std::string &name) const override
	Get the name of three axis linear accelerometer. More...

bool	getThreeAxisLinearAccelerometerFrameName (size_t sens_index, std::string &frameName) const override
	Get the name of the frame in which three axis linear accelerometer measurements are expressed. More...

bool	getThreeAxisLinearAccelerometerMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
	Get three axis linear accelerometer measurements. More...

size_t	getNrOfThreeAxisMagnetometers () const override
	Get the number of three axis magnetometers in the device. More...

yarp::dev::MAS_status	getThreeAxisMagnetometerStatus (size_t sens_index) const override
	Get the status of three axis magnetometer. More...

bool	getThreeAxisMagnetometerName (size_t sens_index, std::string &name) const override
	Get the name of three axis magnetometer. More...

bool	getThreeAxisMagnetometerFrameName (size_t sens_index, std::string &frameName) const override
	Get the name of the frame in which three axis magnetometer measurements are expressed. More...

bool	getThreeAxisMagnetometerMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
	Get three axis magnetometer measurements. More...

size_t	getNrOfOrientationSensors () const override
	Get the number of orientation sensors in the device. More...

yarp::dev::MAS_status	getOrientationSensorStatus (size_t sens_index) const override
	Get the status of orientation sensor. More...

bool	getOrientationSensorName (size_t sens_index, std::string &name) const override
	Get the name of orientation sensor. More...

bool	getOrientationSensorFrameName (size_t sens_index, std::string &frameName) const override
	Get the name of the frame in which orientation sensor measurements are expressed. More...

bool	getOrientationSensorMeasureAsRollPitchYaw (size_t sens_index, yarp::sig::Vector &rpy, double &timestamp) const override
	Get orientation sensor measurements. More...

bool	threadInit () override
	Initialize process with desired device configurations. More...

void	threadRelease () override
	Terminate communication with the device and release the thread. More...

void	run () override
	Update loop where measurements are read from the device. 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::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::IGenericSensor
virtual	~IGenericSensor ()

virtual bool	read (yarp::sig::Vector &out)=0
	Read a vector from the sensor. More...

virtual bool	getChannels (int *nc)=0
	Get the number of channels of the sensor. More...

virtual bool	calibrate (int ch, double v)=0
	Calibrate the sensor, single channel. More...

Public Member Functions inherited from yarp::dev::IThreeAxisGyroscopes
virtual size_t	getNrOfThreeAxisGyroscopes () const =0
	Get the number of three axis gyroscopes exposed by this sensor. More...

virtual yarp::dev::MAS_status	getThreeAxisGyroscopeStatus (size_t sens_index) const =0
	Get the status of the specified sensor. More...

virtual bool	getThreeAxisGyroscopeName (size_t sens_index, std::string &name) const =0
	Get the name of the specified sensor. More...

virtual bool	getThreeAxisGyroscopeFrameName (size_t sens_index, std::string &frameName) const =0
	Get the name of the frame of the specified sensor. More...

virtual bool	getThreeAxisGyroscopeMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const =0
	Get the last reading of the gyroscope. More...

virtual	~IThreeAxisGyroscopes ()

Public Member Functions inherited from yarp::dev::IThreeAxisLinearAccelerometers
virtual size_t	getNrOfThreeAxisLinearAccelerometers () const =0
	Get the number of three axis linear accelerometers exposed by this device. More...

virtual yarp::dev::MAS_status	getThreeAxisLinearAccelerometerStatus (size_t sens_index) const =0
	Get the status of the specified sensor. More...

virtual bool	getThreeAxisLinearAccelerometerName (size_t sens_index, std::string &name) const =0
	Get the name of the specified sensor. More...

virtual bool	getThreeAxisLinearAccelerometerFrameName (size_t sens_index, std::string &frameName) const =0
	Get the name of the frame of the specified sensor. More...

virtual bool	getThreeAxisLinearAccelerometerMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const =0
	Get the last reading of the specified sensor. More...

virtual	~IThreeAxisLinearAccelerometers ()

Public Member Functions inherited from yarp::dev::IThreeAxisMagnetometers
virtual size_t	getNrOfThreeAxisMagnetometers () const =0
	Get the number of magnetometers exposed by this device. More...

virtual yarp::dev::MAS_status	getThreeAxisMagnetometerStatus (size_t sens_index) const =0
	Get the status of the specified sensor. More...

virtual bool	getThreeAxisMagnetometerName (size_t sens_index, std::string &name) const =0
	Get the name of the specified sensor. More...

virtual bool	getThreeAxisMagnetometerFrameName (size_t sens_index, std::string &frameName) const =0
	Get the name of the frame of the specified sensor. More...

virtual bool	getThreeAxisMagnetometerMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const =0
	Get the last reading of the specified sensor. More...

virtual	~IThreeAxisMagnetometers ()

Public Member Functions inherited from yarp::dev::IOrientationSensors
virtual size_t	getNrOfOrientationSensors () const =0
	Get the number of orientation sensors exposed by this device. More...

virtual yarp::dev::MAS_status	getOrientationSensorStatus (size_t sens_index) const =0
	Get the status of the specified sensor. More...

virtual bool	getOrientationSensorName (size_t sens_index, std::string &name) const =0
	Get the name of the specified sensor. More...

virtual bool	getOrientationSensorFrameName (size_t sens_index, std::string &frameName) const =0
	Get the name of the frame of the specified sensor. More...

virtual bool	getOrientationSensorMeasureAsRollPitchYaw (size_t sens_index, yarp::sig::Vector &rpy, double &timestamp) const =0
	Get the last reading of the orientation sensor as roll pitch yaw. More...

virtual	~IOrientationSensors ()

Protected Types
using	ReadFuncPtr = bool(BoschIMU::)(unsigned char, int, unsigned char , std::string)
	Functor to choose between i2c or serial comm. More...

Protected Member Functions
bool	checkWriteResponse (unsigned char *response)

bool	checkReadResponse (unsigned char *response)

void	printBuffer (unsigned char *buffer, int length)

int	readBytes (unsigned char *buffer, int bytes)

void	dropGarbage ()

void	readSysError ()

bool	sendReadCommandSer (unsigned char register_add, int len, unsigned char *buf, std::string comment="")

bool	sendWriteCommandSer (unsigned char register_add, int len, unsigned char *cmd, std::string comment="")

bool	sendAndVerifyCommandSer (unsigned char register_add, int len, unsigned char *cmd, std::string comment)

bool	sendReadCommandI2c (unsigned char register_add, int len, unsigned char *buf, std::string comment="")

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 Attributes
bool	verbose
	Flag to get verbose output. More...

short	status
	device status - UNUSED More...

int	nChannels
	number of channels in the output port. Default 12. If 16, also includes quaternion data More...

yarp::sig::Vector	data
	sensor data buffer More...

yarp::sig::Vector	data_tmp
	sensor data temporary buffer More...

yarp::math::Quaternion	quaternion
	orientation in quaternion representation More...

yarp::math::Quaternion	quaternion_tmp
	orientation in quaternion representation More...

yarp::sig::Vector	RPY_angle
	orientation in Euler angle representation More...

double	m_timeStamp
	device timestamp More...

double	timeLastReport
	timestamp of last reported data More...

std::mutex	mutex
	mutex to avoid resource clash More...

bool	i2c_flag
	flag to check if device connected through i2c commununication More...

bool	checkError
	flag to check read error of sensor data More...

int	fd
	file descriptor to open device at system level More...

size_t	responseOffset

yarp::os::ResourceFinder	rf
	resource finder object to load config parameters More...

ReadFuncPtr	readFunc
	Functor object. More...

unsigned char	command [MAX_MSG_LENGTH]
	packet to be written to the device More...

unsigned char	response [MAX_MSG_LENGTH]
	packet to be read from the device More...

long int	totMessagesRead

yarp::sig::Vector	errorCounter

yarp::sig::Vector	errorReading

int	errs

std::atomic< bool >	dataIsValid

Detailed Description

imuBosch_BNO055: This device will connect to the proper analogServer and read the data broadcasted making them available to use for the user application.

It also made available some function to check and control the state of the remote sensor.

Description of input parameters

Parameters accepted in the config argument of the open method:

Parameter name	Type	Units	Default Value	Required	Description	Notes
comport	string			Yes if i2c not specified	full name of device file	ex '/dev/ttyUSB0', it is mutually exclusive with 'i2c' parameter
baudrate	int	Hz		Yes if i2c not specified	baudrate setting of COM port	ex 115200, used only with serial configuration
i2c	string			Yes if comport not specified	full name of device file	ex '/dev/i2c-5', it is mutually exclusive with 'comport' parameter, necessary for i2c configuration
period	int	ms	10	No	period of the thread
sensor_name	string		sensor_imu_bosch_bno055	No	full name of the device
frame_name	string		set same as `sensor_name`	No	full name of the sensor frame in which the measurements are expressed

Definition at line 136 of file imuBosch_BNO055.h.

Member Typedef Documentation

◆ ReadFuncPtr

using BoschIMU::ReadFuncPtr = bool (BoschIMU::*)(unsigned char, int, unsigned char*, std::string)

protected

Functor to choose between i2c or serial comm.

Definition at line 165 of file imuBosch_BNO055.h.

Constructor & Destructor Documentation

◆ BoschIMU()

BoschIMU::BoschIMU ( )

Definition at line 47 of file imuBosch_BNO055.cpp.

◆ ~BoschIMU()

BoschIMU::~BoschIMU ( )

default

Member Function Documentation

◆ calibrate()

bool BoschIMU::calibrate	(	int	ch,
		double	v
	)

overridevirtual

Calibrate the sensor, single channel.

Parameters

[in]	ch	channel number
[in]	v	reset value

Returns: true/false success/failure

Implements yarp::dev::IGenericSensor.

Definition at line 730 of file imuBosch_BNO055.cpp.

◆ checkReadResponse()

bool BoschIMU::checkReadResponse ( unsigned char * response )

protected

Definition at line 209 of file imuBosch_BNO055.cpp.

◆ checkWriteResponse()

bool BoschIMU::checkWriteResponse ( unsigned char * response )

protected

Definition at line 238 of file imuBosch_BNO055.cpp.

◆ close()

bool BoschIMU::close ( )

overridevirtual

Close the device.

Returns: true/false success/failure

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 201 of file imuBosch_BNO055.cpp.

◆ dropGarbage()

void BoschIMU::dropGarbage ( )

protected

Definition at line 383 of file imuBosch_BNO055.cpp.

◆ getChannels()

bool BoschIMU::getChannels ( int * nc )

overridevirtual

Get the number of channels of the sensor.

Parameters

[out] nc pointer to storage, return value

Returns: true/false success/failure

Implements yarp::dev::IGenericSensor.

Definition at line 724 of file imuBosch_BNO055.cpp.

◆ getNrOfOrientationSensors()

size_t BoschIMU::getNrOfOrientationSensors ( ) const

overridevirtual

Get the number of orientation sensors in the device.

Returns: 1

Implements yarp::dev::IOrientationSensors.

Definition at line 855 of file imuBosch_BNO055.cpp.

◆ getNrOfThreeAxisGyroscopes()

size_t BoschIMU::getNrOfThreeAxisGyroscopes ( ) const

overridevirtual

Get the number of three axis gyroscopes in the device.

Returns: 1

Implements yarp::dev::IThreeAxisGyroscopes.

Definition at line 816 of file imuBosch_BNO055.cpp.

◆ getNrOfThreeAxisLinearAccelerometers()

size_t BoschIMU::getNrOfThreeAxisLinearAccelerometers ( ) const

overridevirtual

Get the number of three axis linear accelerometers in the device.

Returns: 1

Implements yarp::dev::IThreeAxisLinearAccelerometers.

Definition at line 776 of file imuBosch_BNO055.cpp.

◆ getNrOfThreeAxisMagnetometers()

size_t BoschIMU::getNrOfThreeAxisMagnetometers ( ) const

overridevirtual

Get the number of three axis magnetometers in the device.

Returns: 1

Implements yarp::dev::IThreeAxisMagnetometers.

Definition at line 893 of file imuBosch_BNO055.cpp.

◆ getOrientationSensorFrameName()

bool BoschIMU::getOrientationSensorFrameName	(	size_t	sens_index,
		std::string &	frameName
	)		const

overridevirtual

Get the name of the frame in which orientation sensor measurements are expressed.

Parameters

[in]	sens_index	sensor index (must be 0 in the case BoschIMU)
[out]	frameName	name of the sensor frame

Returns: true/false success/failure

Implements yarp::dev::IOrientationSensors.

Definition at line 870 of file imuBosch_BNO055.cpp.

◆ getOrientationSensorMeasureAsRollPitchYaw()

bool BoschIMU::getOrientationSensorMeasureAsRollPitchYaw	(	size_t	sens_index,
		yarp::sig::Vector &	rpy,
		double &	timestamp
	)		const

overridevirtual

Get orientation sensor measurements.

Parameters

[in]	sens_index	sensor index (must be 0 in the case BoschIMU)
[out]	out	RPY Euler angles in deg
[out]	timestamp	timestamp of measurement

Returns: true/false success/failure

Implements yarp::dev::IOrientationSensors.

Definition at line 875 of file imuBosch_BNO055.cpp.

◆ getOrientationSensorName()

bool BoschIMU::getOrientationSensorName	(	size_t	sens_index,
		std::string &	name
	)		const

overridevirtual

Get the name of orientation sensor.

Parameters

[in]	sens_index	sensor index (must be 0 in the case BoschIMU)
[out]	name	name of the sensor

Returns: true/false success/failure

Implements yarp::dev::IOrientationSensors.

Definition at line 865 of file imuBosch_BNO055.cpp.

◆ getOrientationSensorStatus()

yarp::dev::MAS_status BoschIMU::getOrientationSensorStatus ( size_t sens_index ) const

overridevirtual

Get the status of orientation sensor.

Parameters

[in] sens_index sensor index (must be 0 in the case BoschIMU)

Returns: MAS_OK/MAS_ERROR if status ok/failure

Implements yarp::dev::IOrientationSensors.

Definition at line 860 of file imuBosch_BNO055.cpp.

◆ getThreeAxisGyroscopeFrameName()

bool BoschIMU::getThreeAxisGyroscopeFrameName	(	size_t	sens_index,
		std::string &	frameName
	)		const

overridevirtual

Get the name of the frame in which three axis gyroscope measurements are expressed.

Parameters

[in]	sens_index	sensor index (must be 0 in the case BoschIMU)
[out]	frameName	name of the sensor frame

Returns: true/false success/failure

Implements yarp::dev::IThreeAxisGyroscopes.

Definition at line 832 of file imuBosch_BNO055.cpp.

◆ getThreeAxisGyroscopeMeasure()

bool BoschIMU::getThreeAxisGyroscopeMeasure	(	size_t	sens_index,
		yarp::sig::Vector &	out,
		double &	timestamp
	)		const

overridevirtual

Get three axis gyroscope measurements.

Parameters

[in]	sens_index	sensor index (must be 0 in the case BoschIMU)
[out]	out	3D angular velocity measurement in deg/s
[out]	timestamp	timestamp of measurement

Returns: true/false success/failure

Implements yarp::dev::IThreeAxisGyroscopes.

Definition at line 837 of file imuBosch_BNO055.cpp.

◆ getThreeAxisGyroscopeName()

bool BoschIMU::getThreeAxisGyroscopeName	(	size_t	sens_index,
		std::string &	name
	)		const

overridevirtual

Get the name of three axis gyroscope.

Parameters

[in]	sens_index	sensor index (must be 0 in the case BoschIMU)
[out]	name	name of the sensor

Returns: true/false success/failure

Implements yarp::dev::IThreeAxisGyroscopes.

Definition at line 827 of file imuBosch_BNO055.cpp.

◆ getThreeAxisGyroscopeStatus()

yarp::dev::MAS_status BoschIMU::getThreeAxisGyroscopeStatus ( size_t sens_index ) const

overridevirtual

Get the status of three axis gyroscope.

Parameters

[in] sens_index sensor index (must be 0 in the case BoschIMU)

Returns: MAS_OK/MAS_ERROR if status ok/failure

Implements yarp::dev::IThreeAxisGyroscopes.

Definition at line 822 of file imuBosch_BNO055.cpp.

◆ getThreeAxisLinearAccelerometerFrameName()

bool BoschIMU::getThreeAxisLinearAccelerometerFrameName	(	size_t	sens_index,
		std::string &	frameName
	)		const

overridevirtual

Get the name of the frame in which three axis linear accelerometer measurements are expressed.

Parameters

[in]	sens_index	sensor index (must be 0 in the case BoschIMU)
[out]	frameName	name of the sensor frame

Returns: true/false success/failure

Implements yarp::dev::IThreeAxisLinearAccelerometers.

Definition at line 792 of file imuBosch_BNO055.cpp.

◆ getThreeAxisLinearAccelerometerMeasure()

bool BoschIMU::getThreeAxisLinearAccelerometerMeasure	(	size_t	sens_index,
		yarp::sig::Vector &	out,
		double &	timestamp
	)		const

overridevirtual

Get three axis linear accelerometer measurements.

Parameters

[in]	sens_index	sensor index (must be 0 in the case BoschIMU)
[out]	out	3D linear acceleration measurement in m/s^2
[out]	timestamp	timestamp of measurement

Returns: true/false success/failure

Implements yarp::dev::IThreeAxisLinearAccelerometers.

Definition at line 797 of file imuBosch_BNO055.cpp.

◆ getThreeAxisLinearAccelerometerName()

bool BoschIMU::getThreeAxisLinearAccelerometerName	(	size_t	sens_index,
		std::string &	name
	)		const

overridevirtual

Get the name of three axis linear accelerometer.

Parameters

[in]	sens_index	sensor index (must be 0 in the case BoschIMU)
[out]	name	name of the sensor

Returns: true/false success/failure

Implements yarp::dev::IThreeAxisLinearAccelerometers.

Definition at line 787 of file imuBosch_BNO055.cpp.

◆ getThreeAxisLinearAccelerometerStatus()

yarp::dev::MAS_status BoschIMU::getThreeAxisLinearAccelerometerStatus ( size_t sens_index ) const

overridevirtual

Get the status of three axis linear accelerometer.

Parameters

[in] sens_index sensor index (must be 0 in the case BoschIMU)

Returns: MAS_OK/MAS_ERROR if status ok/failure

Implements yarp::dev::IThreeAxisLinearAccelerometers.

Definition at line 782 of file imuBosch_BNO055.cpp.

◆ getThreeAxisMagnetometerFrameName()

bool BoschIMU::getThreeAxisMagnetometerFrameName	(	size_t	sens_index,
		std::string &	frameName
	)		const

overridevirtual

Get the name of the frame in which three axis magnetometer measurements are expressed.

Parameters

[in]	sens_index	sensor index (must be 0 in the case BoschIMU)
[out]	frameName	name of the sensor frame

Returns: true/false success/failure

Implements yarp::dev::IThreeAxisMagnetometers.

Definition at line 908 of file imuBosch_BNO055.cpp.

◆ getThreeAxisMagnetometerMeasure()

bool BoschIMU::getThreeAxisMagnetometerMeasure	(	size_t	sens_index,
		yarp::sig::Vector &	out,
		double &	timestamp
	)		const

overridevirtual

Get three axis magnetometer measurements.

Parameters

[in]	sens_index	sensor index (must be 0 in the case BoschIMU)
[out]	out	3D magnetometer measurement
[out]	timestamp	timestamp of measurement

Returns: true/false success/failure

Implements yarp::dev::IThreeAxisMagnetometers.

Definition at line 913 of file imuBosch_BNO055.cpp.

◆ getThreeAxisMagnetometerName()

bool BoschIMU::getThreeAxisMagnetometerName	(	size_t	sens_index,
		std::string &	name
	)		const

overridevirtual

Get the name of three axis magnetometer.

Parameters

[in]	sens_index	sensor index (must be 0 in the case BoschIMU)
[out]	name	name of the sensor

Returns: true/false success/failure

Implements yarp::dev::IThreeAxisMagnetometers.

Definition at line 903 of file imuBosch_BNO055.cpp.

◆ getThreeAxisMagnetometerStatus()

yarp::dev::MAS_status BoschIMU::getThreeAxisMagnetometerStatus ( size_t sens_index ) const

overridevirtual

Get the status of three axis magnetometer.

Parameters

[in] sens_index sensor index (must be 0 in the case BoschIMU)

Returns: MAS_OK/MAS_ERROR if status ok/failure

Implements yarp::dev::IThreeAxisMagnetometers.

Definition at line 898 of file imuBosch_BNO055.cpp.

◆ open()

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

overridevirtual

Open the device and set up parameters/communication.

Parameters

[in] config searchable object with desired configuration parameters

Returns: true/false success/failure

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 73 of file imuBosch_BNO055.cpp.

◆ printBuffer()

void BoschIMU::printBuffer	(	unsigned char *	buffer,
		int	length
	)

protected

Definition at line 393 of file imuBosch_BNO055.cpp.

◆ read()

bool BoschIMU::read ( yarp::sig::Vector & out )

overridevirtual

Read a vector from the sensor.

Parameters

[out] out a vector containing the sensor's last readings.

Returns: true/false success/failure

Implements yarp::dev::IGenericSensor.

Definition at line 706 of file imuBosch_BNO055.cpp.

◆ readBytes()

int BoschIMU::readBytes	(	unsigned char *	buffer,
		int	bytes
	)

protected

Definition at line 367 of file imuBosch_BNO055.cpp.

◆ readSysError()

void BoschIMU::readSysError ( )

protected

Definition at line 401 of file imuBosch_BNO055.cpp.

◆ run()

void BoschIMU::run ( )

overridevirtual

Update loop where measurements are read from the device.

Implements yarp::os::PeriodicThread.

Definition at line 611 of file imuBosch_BNO055.cpp.

◆ sendAndVerifyCommandSer()

bool BoschIMU::sendAndVerifyCommandSer	(	unsigned char	register_add,
		int	len,
		unsigned char *	cmd,
		std::string	comment
	)

protected

Definition at line 423 of file imuBosch_BNO055.cpp.

◆ sendReadCommandI2c()

bool BoschIMU::sendReadCommandI2c	(	unsigned char	register_add,
		int	len,
		unsigned char *	buf,
		std::string	comment = `""`
	)

protected

Definition at line 436 of file imuBosch_BNO055.cpp.

◆ sendReadCommandSer()

bool BoschIMU::sendReadCommandSer	(	unsigned char	register_add,
		int	len,
		unsigned char *	buf,
		std::string	comment = `""`
	)

protected

Definition at line 266 of file imuBosch_BNO055.cpp.

◆ sendWriteCommandSer()

bool BoschIMU::sendWriteCommandSer	(	unsigned char	register_add,
		int	len,
		unsigned char *	cmd,
		std::string	comment = `""`
	)

protected

Definition at line 326 of file imuBosch_BNO055.cpp.

◆ threadInit()

bool BoschIMU::threadInit ( )

overridevirtual

Initialize process with desired device configurations.

Returns: true/false success/failure

TODO: meas units, offset and so on ...

Reimplemented from yarp::os::PeriodicThread.

Definition at line 446 of file imuBosch_BNO055.cpp.

◆ threadRelease()

void BoschIMU::threadRelease ( )

overridevirtual

Terminate communication with the device and release the thread.

Reimplemented from yarp::os::PeriodicThread.

Definition at line 933 of file imuBosch_BNO055.cpp.

Member Data Documentation

◆ checkError

bool BoschIMU::checkError

protected

flag to check read error of sensor data

Definition at line 159 of file imuBosch_BNO055.h.

◆ command

unsigned char BoschIMU::command[MAX_MSG_LENGTH]

protected

packet to be written to the device

Definition at line 168 of file imuBosch_BNO055.h.

◆ data

yarp::sig::Vector BoschIMU::data

protected

sensor data buffer

Definition at line 149 of file imuBosch_BNO055.h.

◆ data_tmp

yarp::sig::Vector BoschIMU::data_tmp

protected

sensor data temporary buffer

Definition at line 150 of file imuBosch_BNO055.h.

◆ dataIsValid

std::atomic<bool> BoschIMU::dataIsValid

protected

Definition at line 193 of file imuBosch_BNO055.h.

◆ errorCounter

yarp::sig::Vector BoschIMU::errorCounter

protected

Definition at line 180 of file imuBosch_BNO055.h.

◆ errorReading

yarp::sig::Vector BoschIMU::errorReading

protected

Definition at line 181 of file imuBosch_BNO055.h.

◆ errs

int BoschIMU::errs

protected

Definition at line 192 of file imuBosch_BNO055.h.

◆ fd

int BoschIMU::fd

protected

file descriptor to open device at system level

Definition at line 161 of file imuBosch_BNO055.h.

◆ i2c_flag

bool BoschIMU::i2c_flag

protected

flag to check if device connected through i2c commununication

Definition at line 157 of file imuBosch_BNO055.h.

◆ m_timeStamp

double BoschIMU::m_timeStamp

protected

device timestamp

Definition at line 154 of file imuBosch_BNO055.h.

◆ mutex

std::mutex BoschIMU::mutex

mutableprotected

mutex to avoid resource clash

Definition at line 156 of file imuBosch_BNO055.h.

◆ nChannels

int BoschIMU::nChannels

protected

number of channels in the output port. Default 12. If 16, also includes quaternion data

Definition at line 148 of file imuBosch_BNO055.h.

◆ quaternion

yarp::math::Quaternion BoschIMU::quaternion

protected

orientation in quaternion representation

Definition at line 151 of file imuBosch_BNO055.h.

◆ quaternion_tmp

yarp::math::Quaternion BoschIMU::quaternion_tmp

protected

orientation in quaternion representation

Definition at line 152 of file imuBosch_BNO055.h.

◆ readFunc

ReadFuncPtr BoschIMU::readFunc

protected

Functor object.

Definition at line 166 of file imuBosch_BNO055.h.

◆ response

unsigned char BoschIMU::response[MAX_MSG_LENGTH]

protected

packet to be read from the device

Definition at line 169 of file imuBosch_BNO055.h.

◆ responseOffset

size_t BoschIMU::responseOffset

protected

Definition at line 162 of file imuBosch_BNO055.h.

◆ rf

yarp::os::ResourceFinder BoschIMU::rf

protected

resource finder object to load config parameters

Definition at line 163 of file imuBosch_BNO055.h.

◆ RPY_angle

yarp::sig::Vector BoschIMU::RPY_angle

protected

orientation in Euler angle representation

Definition at line 153 of file imuBosch_BNO055.h.

◆ status

short BoschIMU::status

protected

device status - UNUSED

Definition at line 147 of file imuBosch_BNO055.h.

◆ timeLastReport

double BoschIMU::timeLastReport

protected

timestamp of last reported data

Definition at line 155 of file imuBosch_BNO055.h.

◆ totMessagesRead

long int BoschIMU::totMessagesRead

protected

Definition at line 179 of file imuBosch_BNO055.h.

◆ verbose

bool BoschIMU::verbose

protected

Flag to get verbose output.

Definition at line 146 of file imuBosch_BNO055.h.

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

src/devices/imuBosch_BNO055/imuBosch_BNO055.h
src/devices/imuBosch_BNO055/imuBosch_BNO055.cpp

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Description of input parameters

Member Typedef Documentation

◆ ReadFuncPtr

Constructor & Destructor Documentation

◆ BoschIMU()

◆ ~BoschIMU()

Member Function Documentation

◆ calibrate()

◆ checkReadResponse()

◆ checkWriteResponse()

◆ close()

◆ dropGarbage()

◆ getChannels()

◆ getNrOfOrientationSensors()

◆ getNrOfThreeAxisGyroscopes()

◆ getNrOfThreeAxisLinearAccelerometers()

◆ getNrOfThreeAxisMagnetometers()

◆ getOrientationSensorFrameName()

◆ getOrientationSensorMeasureAsRollPitchYaw()

◆ getOrientationSensorName()

◆ getOrientationSensorStatus()

◆ getThreeAxisGyroscopeFrameName()

◆ getThreeAxisGyroscopeMeasure()

◆ getThreeAxisGyroscopeName()

◆ getThreeAxisGyroscopeStatus()

◆ getThreeAxisLinearAccelerometerFrameName()

◆ getThreeAxisLinearAccelerometerMeasure()

◆ getThreeAxisLinearAccelerometerName()

◆ getThreeAxisLinearAccelerometerStatus()

◆ getThreeAxisMagnetometerFrameName()

◆ getThreeAxisMagnetometerMeasure()

◆ getThreeAxisMagnetometerName()

◆ getThreeAxisMagnetometerStatus()

◆ open()

◆ printBuffer()

◆ read()

◆ readBytes()

◆ readSysError()

◆ run()

◆ sendAndVerifyCommandSer()

◆ sendReadCommandI2c()

◆ sendReadCommandSer()

◆ sendWriteCommandSer()

◆ threadInit()

◆ threadRelease()

Member Data Documentation

◆ checkError

◆ command

◆ data

◆ data_tmp

◆ dataIsValid

◆ errorCounter

◆ errorReading

◆ errs

◆ fd

◆ i2c_flag

◆ m_timeStamp

◆ mutex

◆ nChannels

◆ quaternion

◆ quaternion_tmp

◆ readFunc

◆ response

◆ responseOffset

◆ rf

◆ RPY_angle

◆ status

◆ timeLastReport

◆ totMessagesRead

◆ verbose