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CRovio.h

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00001 /* +---------------------------------------------------------------------------+
00002    |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
00003    |                                                                           |
00004    |                   http://mrpt.sourceforge.net/                            |
00005    |                                                                           |
00006    |   Copyright (C) 2005-2011  University of Malaga                           |
00007    |                                                                           |
00008    |    This software was written by the Machine Perception and Intelligent    |
00009    |      Robotics Lab, University of Malaga (Spain).                          |
00010    |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
00011    |                                                                           |
00012    |  This file is part of the MRPT project.                                   |
00013    |                                                                           |
00014    |     MRPT is free software: you can redistribute it and/or modify          |
00015    |     it under the terms of the GNU General Public License as published by  |
00016    |     the Free Software Foundation, either version 3 of the License, or     |
00017    |     (at your option) any later version.                                   |
00018    |                                                                           |
00019    |   MRPT is distributed in the hope that it will be useful,                 |
00020    |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
00021    |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
00022    |     GNU General Public License for more details.                          |
00023    |                                                                           |
00024    |     You should have received a copy of the GNU General Public License     |
00025    |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
00026    |                                                                           |
00027    +---------------------------------------------------------------------------+ */
00028 
00029 #ifndef CROVIO_H
00030 #define CROVIO_H
00031 
00032 #include <mrpt/utils/utils_defs.h>
00033 #include <mrpt/utils/TCamera.h>
00034 #include <mrpt/hwdrivers/link_pragmas.h>
00035 #include <mrpt/synch/CCriticalSection.h>
00036 #include <mrpt/synch/CThreadSafeVariable.h>
00037 #include <mrpt/slam/CObservationImage.h>
00038 
00039 #include <mrpt/hwdrivers/CGenericSensor.h>
00040 
00041 
00042 namespace mrpt
00043 {
00044         namespace hwdrivers
00045         {
00046                 using namespace std;
00047                 using namespace mrpt::slam;
00048                 
00049                 /** A class to interface a Rovio robot (manufactured by WowWee).
00050                   *  Supports: Simple motion commands, video streaming. 
00051                   */
00052                 class HWDRIVERS_IMPEXP CRovio
00053                 {
00054                 private:
00055                         mrpt::system::TThreadHandle             m_videoThread;
00056                         bool    m_videothread_must_exit; 
00057                         bool    m_videothread_initialized_done;
00058                         bool    m_videothread_initialized_error;
00059                         bool    m_videothread_finished;
00060 
00061                         mrpt::slam::CObservationImagePtr buffer_img;
00062                         mrpt::synch::CCriticalSection buffer_img_cs;
00063 
00064 
00065                         /** This function takes a frame and waits until getLastImage ask for it, and so on.
00066                           */
00067                         void thread_video();
00068 
00069                         bool send_cmd_action(int act, int speed);
00070 
00071                         bool path_management(int act);
00072 
00073                         bool path_management(int act, const string &path_name);
00074 
00075                         bool general_command(int act, string &response, string &errormsg);
00076 
00077 
00078                 public:
00079                         struct TOptions
00080                         {
00081                                 string IP;
00082                                 string user;
00083                                 string password;
00084 
00085                                 mrpt::utils::TCamera cameraParams;              // Mat. cam. preguntar paco
00086 
00087                                 TOptions();
00088                         } options;
00089 
00090                         enum status {idle, driving_home, docking, executing_path, recording_path};
00091 
00092                         struct TRovioState{
00093                                 status state;
00094                                 unsigned int nss;       //Navigation Signal Strength
00095                                 unsigned int wss;       //Wifi Signal Strength
00096                         };
00097 
00098                         struct TEncoders{
00099                                 int left;
00100                                 int right;
00101                                 int rear;
00102                                 TEncoders()
00103                                 {
00104                                         left = 0;
00105                                         right = 0;
00106                                         rear = 0;
00107                                 }
00108                         }encoders;
00109 
00110 
00111                         /** Establish conection with Rovio and log in its system: Important, fill out "options" members *BEFORE* calling this method.
00112                           *  \exception std::runtime On errors
00113                           */ 
00114                         void initialize(); //string &errormsg_out, string url_out="150.214.109.134", string user_out="admin", string password_out="investigacion");
00115 
00116                         /**     move send Rovio the command to move in the specified direcction
00117                           * \param direction 'f'->forward, 'b'->backward, 'r'->right, 'l'->left
00118                           * \return False on error
00119                           */
00120                         bool move(char direction, int speed=5 );
00121 
00122                         /** rotate send Rovio the command to rotate in the specified direcction
00123                           * 'r'->right, 'l'->left
00124                           * \return False on error
00125                           */
00126                         bool rotate(char direction, int speed=5 );
00127 
00128                         /**  Head positions 
00129                           * \return False on error
00130                           */ 
00131                         bool takeHeadUp();
00132                         bool takeHeadMiddle();
00133                         bool takeHeadDown();
00134 
00135 
00136                         /*  Path commands */ 
00137                         bool pathRecord();
00138                         bool pathRecordAbort();
00139                         bool pathRecordSave(const string &path_name);//Repasar const
00140                         bool pathDelete(const string &path_name);
00141                         /** Get list of saved paths
00142                           */ 
00143                         bool pathGetList(string &path_list);
00144                         bool pathRunForward();
00145                         bool pathRunBackward();
00146                         bool pathRunStop();
00147                         bool pathRunPause();
00148                         bool pathRename(const string &old_name, const string &new_name);
00149 
00150 
00151                         /** goHome(bool dock) drives Rovio in front of charging station if the paremeter dock is set to false, otherwise it also docks
00152                           * \return False on error
00153                           */
00154                         bool goHome(bool dock, int speed = 5);
00155 
00156                         /** Loads the rovio camera calibration parameters (of leave the default ones if not found) (See CGenericSensor), then call to "loadConfig_sensorSpecific"
00157                           *  \exception This method throws an exception with a descriptive message if some critical parameter is missing or has an invalid value.
00158                           */
00159                         void  loadConfig(
00160                                 const mrpt::utils::CConfigFileBase &configSource,
00161                                 const std::string                       &section );
00162 
00163                         /** This function launchs a thread with the function "thread_video()" which gets frames into a buffer.
00164                           * After calling this method, images can be obtained with getNextImageSync()
00165                           * \return False on error
00166                           * \sa getNextImageSync
00167                           */
00168                         bool retrieve_video();//como la protejo para que no se llame dos veces??????????????????????????????????????????????
00169 
00170                         /** This function stops and joins the thread launched by "retrieve_video()".
00171                           * \return False on error
00172                           */
00173                         bool stop_video();
00174 
00175                         /** Returns the next frame from Rovio's live video stream, after starting the live streaming with retrieve_video()
00176                           * \return False on error
00177                           * \sa retrieve_video, captureImageAsync
00178                           */
00179                         bool getNextImageSync(CObservationImagePtr& lastImage );
00180 
00181                         /** Returns a snapshot from Rovio, if rectified is set true, the returned image is rectified with the parameters of intrinsic_matrix and distortion_matrix.
00182                           * This function works asynchronously and does not need to have enabled the live video streaming.
00183                           * \return False on error
00184                           * \sa captureImageSync
00185                           */
00186                         bool captureImageAsync( CImage&out_img, bool recttified);//string pict_name, 
00187 
00188                         bool isVideoStreamming() const; //!< Return true if video is streaming correctly \sa retrieve_video
00189 
00190 
00191 //Rovio State
00192                         /** Returns a TRovioState with internal information of Rovio (State, Navigation Signal Strength, Wifi Signal Strength)
00193                           * \return False on error
00194                           */
00195                         bool getRovioState(TRovioState &state);
00196 
00197                         /** Returns a TEncoders with information of Rovio encoders (since last read, it seems Rovio is continuously reading with unknown sample time)
00198                           * \return False on error
00199                           */
00200                         bool getEncoders(TEncoders &encoders);
00201 
00202                         /** Returns the Rovio's pose
00203                           * \return False on error
00204                           */
00205                         bool getPosition(mrpt::math::TPose2D &out_pose);
00206 
00207 
00208 
00209                         CRovio();
00210                         virtual ~CRovio();
00211 
00212                 };      // End of class
00213 
00214         } // End of namespace
00215 
00216 } // End of namespace
00217 
00218 #endif



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