YARP
Yet Another Robot Platform

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 measurments (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 charactestics 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 measurments. More...
 
bool getScanRate (double &rate) override
 get the scan rate (scans per seconds) More...
 
- 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
 
DeviceDriveroperator= (const DeviceDriver &other)=delete
 
DeviceDriveroperator= (DeviceDriver &&other) noexcept=delete
 
 ~DeviceDriver () override
 
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 DeviceDrivergetImplementation ()
 Some drivers are bureaucrats, pointing at others. More...
 
- Public Member Functions inherited from yarp::os::IConfig
virtual ~IConfig ()
 Destructor. More...
 
virtual bool configure (Searchable &config)
 Change online parameters. More...
 
- Public Member Functions inherited from yarp::os::PortReader
virtual ~PortReader ()
 Destructor. 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::PolyDriverm_pLoc
 
yarp::dev::Nav2D::ILocalization2Dm_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_tm_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 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...
 

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

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
configis 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
readeran 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
minthe minimum detection distance
maxthe 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 measurments (if available)

Parameters
stepthe angular step between two measurments
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
minstart angle of the scan
maxend 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
ratethe 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: