10 #ifndef CEnoseModular_H
11 #define CEnoseModular_H
74 std::vector<float> enose_poses_x,enose_poses_y,enose_poses_z,enose_poses_yaw,
enose_poses_pitch,enose_poses_roll;
84 const std::string §ion );
#define DEFINE_GENERIC_SENSOR(class_name)
This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...
A class for interfacing an e-NoseModular via a FTDI USB link.
bool getObservation(mrpt::obs::CObservationGasSensors &outObservation)
Request the master eNose the latest readings from all the eNoses.
CSerialPort * m_stream_SERIAL
Serial port comms.
CEnoseModular()
Constructor.
std::vector< float > enose_poses_pitch
mrpt::utils::CStream * checkConnectionAndConnect()
Tries to connect to the USB device (if disconnected).
void purgeBuffers()
Purge the Serial/FTDI buffer.
void doProcess()
This method will be invoked at a minimum rate of "process_rate" (Hz)
std::string getSerialPort() const
CInterfaceFTDI * m_stream_FTDI
FTDI comms pipe (when not in serial port mode)
unsigned int getSerialPortBaud() const
void loadConfig_sensorSpecific(const mrpt::utils::CConfigFileBase &configSource, const std::string §ion)
See the class documentation at the top for expected parameters.
unsigned int m_COM_baud
Default=115200.
void setSerialPort(const std::string &port)
If not an empty string, will open that serial port, otherwise will try to open USB FTDI device "m_usb...
std::string m_COM_port
If not an empty string (default), will open that serial port, otherwise will try to open USB FTDI dev...
virtual ~CEnoseModular()
Destructor.
std::string m_usbSerialNumber
A copy of the device serial number (to open the USB FTDI chip)
void setSerialPortBaud(unsigned int baud)
Set the serial port baud rate (default: 115200)
mrpt::system::TTimeStamp initial_timestamp
A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabbe...
A definition of a CStream actually representing a USB connection to a FTDI chip.
A communications serial port built as an implementation of a utils::CStream.
Declares a class derived from "CObservation" that represents a set of readings from gas sensors.
This class allows loading and storing values and vectors of different types from a configuration text...
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
uint64_t TTimeStamp
A system independent time type, it holds the the number of 100-nanosecond intervals since January 1,...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.