The Rokubimini Serial Implementation class. More...

#include <RokubiminiSerialImpl.hpp>

Public Member Functions
void	closeSerialPort ()
	Closes the serial port. More...

void	createDataFlagsDiagnostics (diagnostic_updater::DiagnosticStatusWrapper &stat)
	Creates the Data Flags Diagnostics status. More...

bool	firmwareUpdate (const std::string &filePath)
	Updates the firmware of the device. More...

std::string	getConnectionStateString () const

std::vector< std::string >	getErrorStrings () const
	Retrieves detailed error indication. More...

bool	getForceTorqueSamplingRate (int &samplingRate)
	Gets the force torque sampling rate of the device. More...

void	getFrameDataStatus (DataStatus &status)
	Gets the latest frame's Data Status. More...

std::string	getModeStateString () const

std::string	getName () const
	Accessor for device name. More...

std::string	getProductName () const
	Gets the product name of the device. More...

void	getReading (rokubimini::Reading &reading)
	Gets the internal reading variable. More...

bool	getSerialNumber (unsigned int &serialNumber)
	Accessor for device serial number. More...

bool	hasError () const
	Checks the connection has errors. More...

bool	hasFrameSync ()
	Returns if there is frame synchronization with the device. More...

bool	init ()
	This method initializes internal variables and the device for communication. It connects to the serial-port. More...

bool	isRunning ()
	Returns if the serial driver is running. More...

bool	loadConfig ()
	Loads the configuration of the device. More...

bool	parseCommunicationMsgs (const double &timeout=1.0)
	Parses the Communication Messages of the serial sensor. More...

bool	printUserConfig ()
	Prints all the user configurable parameters. More...

void	resetDataFlags ()
	Resets the Data Flags variable `currentDataFlagsDiagnostics_`. More...

	RokubiminiSerialImpl ()=delete
	Default constructor is deleted. More...

	RokubiminiSerialImpl (const std::string &name, const std::string &port)

bool	runsAsync ()
	Returns if the driver runs asynchronously. More...

bool	saveConfigParameter ()
	Saves the current configuration to the device. More...

bool	setAccelerationFilter (const unsigned int filter)
	Sets an acceleration filter to the device. More...

bool	setAccelerationRange (const unsigned int range)
	Sets an acceleration range to the device. More...

bool	setAngularRateFilter (const unsigned int filter)
	Sets an angular rate filter to the device. More...

bool	setAngularRateRange (const unsigned int range)
	Sets an angular rate range to the device. More...

bool	setCommunicationSetup (const configuration::SensorConfiguration &sensorConfiguration, const uint8_t &dataFormat, const uint8_t &baudRate)
	Sets communication setup for the device. This includes setting the temperature compensation, the matrix calibration, the data format and the baud rate. More...

bool	setConfigMode ()
	Sets the device in config mode. More...

bool	setForceTorqueFilter (const configuration::ForceTorqueFilter &filter)
	Sets a force torque filter to the device. More...

bool	setForceTorqueOffset (const Eigen::Matrix< double, 6, 1 > &forceTorqueOffset)
	Sets a force torque offset to the device. More...

bool	setHardwareReset ()
	Triggers a hardware reset of the sensor. More...

bool	setInitMode ()
	Triggers a software reset of the sensor bringing it to a known state. More...

bool	setRunMode ()
	Sets the device in run mode. More...

void	setRunsAsync (bool runsAsync)
	Sets the runsAsync_ variable. More...

bool	setSensorCalibration (const calibration::SensorCalibration &sensorCalibration)
	Sets a sensor calibration to the device. More...

bool	setSensorConfiguration (const configuration::SensorConfiguration &sensorConfiguration)
	Sets a sensor configuration to the device. More...

void	shutdown ()
	Shuts down the device. It automatically shuts-down threads and disconnects from serial-port. More...

bool	startup ()
	This method starts up communication with the device. More...

void	updateConnectionStatus (diagnostic_updater::DiagnosticStatusWrapper &stat)
	Fills the Device Connection Status (ROS diagnostics). More...

void	updateDataFlags ()
	Updates the Data Flags variable `currentDataFlagsDiagnostics_`. More...

void	updateRead ()
	This method is called by the BusManager. Each device attached to this bus reads its data from the buffer (not used). More...

void	updateWrite ()
	This method is called by the BusManager. Each device attached to the bus writes its data to the buffer (not used). More...

	~RokubiminiSerialImpl ()=default

Private Types
using	timespec = struct timespec

Private Member Functions
uint16_t	calcCrc16X25 (uint8_t *data, int len)

bool	clearReadBuffer ()
	Clears the Read Serial buffer by extracting every character available. More...

bool	connect ()
	Connects to the Serial-over-USB port. More...

bool	connect (const std::string &port)
	Connects to the Serial-over-USB port. More...

void	connectionWorker ()
	Worker threads for managing sensor connections. More...

uint16_t	crcCcittUpdate (uint16_t crc, uint8_t data)
	Implementation function of the CRC16 X25 checksum for the input data. More...

double	diffSec (timespec a, timespec b)
	Calculates the difference (b-a) of two timespecs in seconds. More...

ConnectionState	getConnectionState () const
	Gets the current connection status. More...

ErrorFlags	getErrorFlags () const
	Gets the current error status. More...

void	increaseAndCheckTimeoutCounter ()
	Increases the timeout counter and checks if it has passed the maximum available timeouts. More...

bool	initSensorCommunication (bool keepOpening)
	Initializes communication with the sensor. More...

bool	initSerialPort (const std::string &port)
	Sets up and initializes the serial port for communication. More...

bool	isConnected () const
	Checks if the device is connected. More...

bool	isConnecting () const
	Checks if device is already in the process of connecting. More...

bool	isInConfigMode () const
	Checks if the ModeState is Config Mode. More...

bool	openSerialPort (bool keepOpening)
	Opens the serial port. More...

bool	parseAcknowledgement (const char &command_code, const double &timeout=2.0)
	Parses the acknowledgement from the serial device. More...

bool	parseRegexWaitTimeout (RokubiminiSerialResponseRegex &reg, const double &timeout=1.0)
	Parses a regex from the serial sensor input stream. More...

void	pollingWorker ()
	Worker threads for polling the sensors. More...

bool	readDevice (RxFrame &frame)
	Reads a raw measurement frame from the serial-port. More...

bool	readSerialNoWait (const uint32_t &numChars, std::string &str)
	Reads a string from the serial device without waiting. The number of characters of the string is not guaranteed to be equal with the number of characters given as parameter. More...

bool	readSerialWaitTimeout (const uint32_t &numChars, std::string &str, const double &timeout=1.0)
	Reads a string from the serial device waiting a timeout duration. The number of characters of the string is not guaranteed to be equal with the number of characters given as parameter. More...

bool	sendCalibrationMatrixEntry (const uint8_t subId, const double entry)
	Sends a calibration matrix entry to device. More...

bool	sendCommand (const std::string &command)
	Sends a command to the serial device. More...

bool	startPollingThread ()
	This method starts up the polling thread. More...

timespec	timespecAdd (timespec a, timespec b)
	Calculates the sum of two timespecs. More...

double	timespecToSec (timespec t)
	Converts a timespec to seconds. More...

bool	writeSerial (const std::string &str)
	Writes an Ascii string to the serial device. More...

Private Attributes
BaudRateStruct	baudRate_
	The baud rate of the serial communication, as a termios bit mask. More...

boost::atomic< ConnectionState >	connectionState_
	Internal connection state. More...

boost::thread	connectionThread_
	Connection thread handle. More...

std::atomic< DataStatus >	currentDataFlagsDiagnostics_
	The current Data Flags Diagnostics (Data Status) which is updated when a new frame is published and is published by the DataFlagsDiagnosticsPublisher. More...

bool	dataReady_
	This flag is on when new data are ready to be published. More...

ErrorFlags	errorFlags_
	Flags to indicate errors in serial communication. More...

RxFrame	frame_
	The internal variable for the receiving frame. This variable represents the raw data received from the sensor. More...

unsigned long	frameCrcErrorCounter_
	Counter for frames with CRC errors. More...

DataStatus	frameDataStatus_
	The current frame's Data Status. More...

uint8_t	frameHeader = 0xAA
	The frame header value. More...

uint32_t	frameOffset_
	The frame offset to start reading (in bytes). More...

unsigned long	frameReceivedCounter_
	Received frame counter. More...

unsigned long	frameSuccessCounter_
	Correct frames counter. More...

boost::atomic< bool >	frameSync_
	Flag that indicates if the frame is synced. More...

unsigned int	frameSyncErrorCounter_
	Frame sync errors. More...

ros::Time	frameTimestamp_

boost::atomic< bool >	isRunning_
	Internal flags/indicators. More...

unsigned int	maxCountOpenSerialPort_
	Maximum attempts to open serial port. More...

unsigned int	maxFrameSyncErrorCounts_
	Maximum acceptable frame sync errors. More...

boost::atomic< ModeState >	modeState_
	Mode state of the sensor. More...

std::string	name_
	Name of the sensor. More...

std::condition_variable	newFrameIsAvailable_
	The condition variable that is used between the publishing and the polling thread to synchronize on new data. More...

RxFrame	placeholder_
	A placeholder to save unfinished frames. More...

unsigned long	pollingSyncErrorCounter_
	Internal statistics and error counters. More...

boost::thread	pollingThread_
	Polling thread handle. More...

std::string	port_
	The serial port to connect to. More...

std::string	productName_
	The product name of the device. More...

std::mutex	readingMutex_
	Mutex prohibiting simultaneous access the internal Reading variable. More...

double	readTimeout_
	The timeout to read from device (in seconds). More...

bool	runInThreadedMode_
	Flag to indicate whether the driver should setup worker threads at startup. More...

std::atomic< bool >	runsAsync_
	The flag that represents whether the driver runs asynchronously or not. More...

Reading	serialImplReading_
	The internal reading variable. It's used for providing to client code the sensor readings, through the getReading () function. More...

std::recursive_mutex	serialMutex_
	Mutex prohibiting simultaneous access to Serial device. More...

uint32_t	serialNumber_
	The serial number of the device. More...

unsigned int	timeoutCounter_
	Timeout counter. More...

boost::atomic< int >	usbFileDescriptor_
	The USB file descriptor. More...

std::ifstream	usbStreamIn_
	Input stream for the USB file descriptor. More...

std::ofstream	usbStreamOut_
	Output stream for the USB file descriptor. More...

Static Private Attributes
const static uint8_t	DEFAULT_BAUD_RATE_OPTION = 3

constexpr static double	FTDI_DRIVER_LATENCY = 0.001

const static uint8_t	MAX_BAUD_RATE_OPTION = 4

constexpr static double	MAXIMUM_ACCEPTABLE_TIMEOUT = 1.77

const static uint64_t	NSEC_PER_SEC = 1000000000

constexpr static double	TIMEOUT_MARGIN = 0.15

Detailed Description

The Rokubimini Serial Implementation class.

It's the implementation in the BRIDGE pattern used. It provides the implementation to be called by the interface (RokubiminiSerial) in order to communicate with the Serial Device.

Definition at line 131 of file RokubiminiSerialImpl.hpp.

Member Typedef Documentation

◆ timespec

using rokubimini::serial::RokubiminiSerialImpl::timespec = struct timespec

private

Definition at line 757 of file RokubiminiSerialImpl.hpp.

Constructor & Destructor Documentation

◆ RokubiminiSerialImpl() [1/2]

rokubimini::serial::RokubiminiSerialImpl::RokubiminiSerialImpl ( )

delete

Default constructor is deleted.

◆ RokubiminiSerialImpl() [2/2]

rokubimini::serial::RokubiminiSerialImpl::RokubiminiSerialImpl	(	const std::string &	name,
		const std::string &	port
	)

Definition at line 33 of file RokubiminiSerialImpl.cpp.

◆ ~RokubiminiSerialImpl()

rokubimini::serial::RokubiminiSerialImpl::~RokubiminiSerialImpl ( )

default

Member Function Documentation

◆ calcCrc16X25()

uint16_t rokubimini::serial::RokubiminiSerialImpl::calcCrc16X25	(	uint8_t *	data,
		int	len
	)

inlineprivate

Definition at line 767 of file RokubiminiSerialImpl.cpp.

◆ clearReadBuffer()

bool rokubimini::serial::RokubiminiSerialImpl::clearReadBuffer ( )

private

Clears the Read Serial buffer by extracting every character available.

Returns: True if the acknowledgement was received successfully.

Definition at line 1238 of file RokubiminiSerialImpl.cpp.

◆ closeSerialPort()

void rokubimini::serial::RokubiminiSerialImpl::closeSerialPort ( )

Closes the serial port.

Definition at line 202 of file RokubiminiSerialImpl.hpp.

◆ connect() [1/2]

bool rokubimini::serial::RokubiminiSerialImpl::connect ( )

private

Connects to the Serial-over-USB port.

Returns: True if connection was successful.

Definition at line 171 of file RokubiminiSerialImpl.cpp.

◆ connect() [2/2]

bool rokubimini::serial::RokubiminiSerialImpl::connect ( const std::string & port )

private

Connects to the Serial-over-USB port.

Parameters

port	The port to connect to.

Returns: True if connection was successful.

Definition at line 212 of file RokubiminiSerialImpl.cpp.

◆ connectionWorker()

void rokubimini::serial::RokubiminiSerialImpl::connectionWorker ( )

private

Worker threads for managing sensor connections.

Definition at line 785 of file RokubiminiSerialImpl.cpp.

◆ crcCcittUpdate()

uint16_t rokubimini::serial::RokubiminiSerialImpl::crcCcittUpdate	(	uint16_t	crc,
		uint8_t	data
	)

private

Implementation function of the CRC16 X25 checksum for the input data.

Parameters

data	The input data.
crc	The current checksum.

Returns: The new checksum calculated.

Definition at line 775 of file RokubiminiSerialImpl.cpp.

◆ createDataFlagsDiagnostics()

void rokubimini::serial::RokubiminiSerialImpl::createDataFlagsDiagnostics ( diagnostic_updater::DiagnosticStatusWrapper & stat )

Creates the Data Flags Diagnostics status.

Parameters

stat	The status to be filled with the new diagnostics.

Definition at line 1292 of file RokubiminiSerialImpl.cpp.

◆ diffSec()

double rokubimini::serial::RokubiminiSerialImpl::diffSec	(	timespec	a,
		timespec	b
	)

inlineprivate

Calculates the difference (b-a) of two timespecs in seconds.

Parameters

a	The first timespec.
b	The second timespec.

Returns: The difference in seconds.

Definition at line 769 of file RokubiminiSerialImpl.hpp.

◆ firmwareUpdate()

bool rokubimini::serial::RokubiminiSerialImpl::firmwareUpdate ( const std::string & filePath )

Updates the firmware of the device.

Parameters

filePath The path to find the firmware file

Returns: True if the flashing of firware was successful.

Definition at line 1396 of file RokubiminiSerialImpl.cpp.

◆ getConnectionState()

ConnectionState rokubimini::serial::RokubiminiSerialImpl::getConnectionState ( ) const

private

Gets the current connection status.

Returns: The current connection status.

Definition at line 406 of file RokubiminiSerialImpl.cpp.

◆ getConnectionStateString()

std::string rokubimini::serial::RokubiminiSerialImpl::getConnectionStateString ( ) const

inline

Definition at line 254 of file RokubiminiSerialImpl.hpp.

◆ getErrorFlags()

ErrorFlags rokubimini::serial::RokubiminiSerialImpl::getErrorFlags ( ) const

private

Gets the current error status.

Returns: The current error status.

Definition at line 411 of file RokubiminiSerialImpl.cpp.

◆ getErrorStrings()

std::vector< std::string > rokubimini::serial::RokubiminiSerialImpl::getErrorStrings ( ) const

Retrieves detailed error indication.

Returns: The error string.

Definition at line 416 of file RokubiminiSerialImpl.cpp.

◆ getForceTorqueSamplingRate()

bool rokubimini::serial::RokubiminiSerialImpl::getForceTorqueSamplingRate ( int & samplingRate )

inline

Gets the force torque sampling rate of the device.

Parameters

samplingRate The force torque sampling rate to be fetched.

Returns: True if the force torque sampling rate was successfully fetched.

Definition at line 298 of file RokubiminiSerialImpl.hpp.

◆ getFrameDataStatus()

void rokubimini::serial::RokubiminiSerialImpl::getFrameDataStatus ( DataStatus & status )

Gets the latest frame's Data Status.

Parameters

status The status to be filled with the latest Data Status.

Definition at line 1325 of file RokubiminiSerialImpl.cpp.

◆ getModeStateString()

std::string rokubimini::serial::RokubiminiSerialImpl::getModeStateString ( ) const

inline

Definition at line 239 of file RokubiminiSerialImpl.hpp.

◆ getName()

std::string rokubimini::serial::RokubiminiSerialImpl::getName ( ) const

inline

Accessor for device name.

Returns: The name of the device.

Definition at line 234 of file RokubiminiSerialImpl.hpp.

◆ getProductName()

std::string rokubimini::serial::RokubiminiSerialImpl::getProductName ( ) const

inline

Gets the product name of the device.

Returns: The product name.

Definition at line 558 of file RokubiminiSerialImpl.hpp.

◆ getReading()

void rokubimini::serial::RokubiminiSerialImpl::getReading ( rokubimini::Reading & reading )

Gets the internal reading variable.

Parameters

reading The variable to store the reading.

Definition at line 898 of file RokubiminiSerialImpl.cpp.

◆ getSerialNumber()

bool rokubimini::serial::RokubiminiSerialImpl::getSerialNumber ( unsigned int & serialNumber )

inline

Accessor for device serial number.

Parameters

serialNumber The serial number to get.

Returns: True if the serial number could be successfully fetched.

Definition at line 280 of file RokubiminiSerialImpl.hpp.

◆ hasError()

bool rokubimini::serial::RokubiminiSerialImpl::hasError ( ) const

Checks the connection has errors.

Returns: True if the connection has errors.

Definition at line 391 of file RokubiminiSerialImpl.cpp.

◆ hasFrameSync()

bool rokubimini::serial::RokubiminiSerialImpl::hasFrameSync ( )

inline

Returns if there is frame synchronization with the device.

Returns: True if there is.

Definition at line 537 of file RokubiminiSerialImpl.hpp.

◆ increaseAndCheckTimeoutCounter()

void rokubimini::serial::RokubiminiSerialImpl::increaseAndCheckTimeoutCounter ( )

private

Increases the timeout counter and checks if it has passed the maximum available timeouts.

Definition at line 218 of file RokubiminiSerialImpl.cpp.

◆ init()

bool rokubimini::serial::RokubiminiSerialImpl::init ( )

This method initializes internal variables and the device for communication. It connects to the serial-port.

Returns: True if the initialization was successful.

Definition at line 65 of file RokubiminiSerialImpl.cpp.

◆ initSensorCommunication()

bool rokubimini::serial::RokubiminiSerialImpl::initSensorCommunication ( bool keepOpening )

private

Initializes communication with the sensor.

Parameters

keepOpening Set if there will be multiple attempts or only one.

Returns: True if initialization of the communication was successful.

Step 1. Open port in every possible baud rate and send hardware reset.

Step 2. Open port with default baud rate and parse communication setup.

Step 3. Apply the following logic:

If the baud rate parsed is the maximum available, re-open the port with max baud rate and continue.
If the baud rate parsed is the default one, since the port has been opened already with the default baud rate, set the max baud rate, re-open the port with max baud rate and continue.
If the baud rate parsed is neither the default nor the maximum, close the serial port (opened with default baud rate), open the port with actual baud rate, set the max baud rate, re-open the port with max baud rate and continue.

Definition at line 465 of file RokubiminiSerialImpl.cpp.

◆ initSerialPort()

bool rokubimini::serial::RokubiminiSerialImpl::initSerialPort ( const std::string & port )

private

Sets up and initializes the serial port for communication.

Parameters

port	The port to initialize.

Returns: True if the port was initialized successfully.

Definition at line 699 of file RokubiminiSerialImpl.cpp.

◆ isConnected()

bool rokubimini::serial::RokubiminiSerialImpl::isConnected ( ) const

private

Checks if the device is connected.

Returns: True if the device is connected.

Definition at line 381 of file RokubiminiSerialImpl.cpp.

◆ isConnecting()

bool rokubimini::serial::RokubiminiSerialImpl::isConnecting ( ) const

private

Checks if device is already in the process of connecting.

Returns: True if device is in the process of connecting.

Definition at line 386 of file RokubiminiSerialImpl.cpp.

◆ isInConfigMode()

bool rokubimini::serial::RokubiminiSerialImpl::isInConfigMode ( ) const

private

Checks if the ModeState is Config Mode.

Returns: True if the ModeState is Config Mode.

Definition at line 401 of file RokubiminiSerialImpl.cpp.

◆ isRunning()

bool rokubimini::serial::RokubiminiSerialImpl::isRunning ( )

inline

Returns if the serial driver is running.

Returns: True if the serial driver is running.

Definition at line 526 of file RokubiminiSerialImpl.hpp.

◆ loadConfig()

bool rokubimini::serial::RokubiminiSerialImpl::loadConfig ( )

Loads the configuration of the device.

Returns: True if the operation was successful.

Definition at line 1167 of file RokubiminiSerialImpl.cpp.

◆ openSerialPort()

bool rokubimini::serial::RokubiminiSerialImpl::openSerialPort ( bool keepOpening )

private

Opens the serial port.

Parameters

keepOpening Set if there will be multiple attempts or only one.

Returns: True if the serial port was openned successfully.

Definition at line 445 of file RokubiminiSerialImpl.cpp.

◆ parseAcknowledgement()

bool rokubimini::serial::RokubiminiSerialImpl::parseAcknowledgement	(	const char &	command_code,
		const double &	timeout = `2.0`
	)

private

Parses the acknowledgement from the serial device.

Parameters

command_code	The command code to parse the ACK for.
timeout	The timeout in seconds to wait before parsing the acknowledgement. By default this is set to 2 seconds.

Returns: True if the acknowledgement was received successfully.

Definition at line 1331 of file RokubiminiSerialImpl.cpp.

◆ parseCommunicationMsgs()

bool rokubimini::serial::RokubiminiSerialImpl::parseCommunicationMsgs ( const double & timeout = 1.0 )

Parses the Communication Messages of the serial sensor.

Parameters

timeout The timeout in seconds to wait. By default this is set to 1 seconds.

Returns: True if the operation was successful.

Definition at line 669 of file RokubiminiSerialImpl.cpp.

◆ parseRegexWaitTimeout()

bool rokubimini::serial::RokubiminiSerialImpl::parseRegexWaitTimeout	(	RokubiminiSerialResponseRegex &	reg,
		const double &	timeout = `1.0`
	)

private

Parses a regex from the serial sensor input stream.

Parameters

regex	The regex to be parsed.
timeout	The timeout in seconds to wait before parsing the regex. By default this is set to 1 seconds.

Returns: True if the operation was successful.

Definition at line 614 of file RokubiminiSerialImpl.cpp.

◆ pollingWorker()

void rokubimini::serial::RokubiminiSerialImpl::pollingWorker ( )

private

Worker threads for polling the sensors.

Definition at line 790 of file RokubiminiSerialImpl.cpp.

◆ printUserConfig()

bool rokubimini::serial::RokubiminiSerialImpl::printUserConfig ( )

Prints all the user configurable parameters.

Returns: True if the operation was successful.

Definition at line 1186 of file RokubiminiSerialImpl.cpp.

◆ readDevice()

bool rokubimini::serial::RokubiminiSerialImpl::readDevice ( RxFrame & frame )

private

Reads a raw measurement frame from the serial-port.

Parameters

frame The raw measurement frame to read.

Returns: True if the reading was successful.

Definition at line 224 of file RokubiminiSerialImpl.cpp.

◆ readSerialNoWait()

bool rokubimini::serial::RokubiminiSerialImpl::readSerialNoWait	(	const uint32_t &	numChars,
		std::string &	str
	)

private

Reads a string from the serial device without waiting. The number of characters of the string is not guaranteed to be equal with the number of characters given as parameter.

Parameters

numChars	The number of chars to read.
str	The string to read.

Returns: True if new characters were read from the serial device.

Definition at line 637 of file RokubiminiSerialImpl.cpp.

◆ readSerialWaitTimeout()

bool rokubimini::serial::RokubiminiSerialImpl::readSerialWaitTimeout	(	const uint32_t &	numChars,
		std::string &	str,
		const double &	timeout = `1.0`
	)

private

Reads a string from the serial device waiting a timeout duration. The number of characters of the string is not guaranteed to be equal with the number of characters given as parameter.

Parameters

numChars	The number of chars to read.
str	The string to read.
timeout	The timeout in seconds to wait. By default this is set to 1 seconds.

Returns: True if new characters were read from the serial device.

Definition at line 647 of file RokubiminiSerialImpl.cpp.

◆ resetDataFlags()

void rokubimini::serial::RokubiminiSerialImpl::resetDataFlags ( )

Resets the Data Flags variable currentDataFlagsDiagnostics_.

Definition at line 1287 of file RokubiminiSerialImpl.cpp.

◆ runsAsync()

bool rokubimini::serial::RokubiminiSerialImpl::runsAsync ( )

inline

Returns if the driver runs asynchronously.

Returns: True if there is.

Definition at line 569 of file RokubiminiSerialImpl.hpp.

◆ saveConfigParameter()

bool rokubimini::serial::RokubiminiSerialImpl::saveConfigParameter ( )

Saves the current configuration to the device.

Returns: True if the configuration was successfully saved in the device.

Definition at line 1148 of file RokubiminiSerialImpl.cpp.

◆ sendCalibrationMatrixEntry()

bool rokubimini::serial::RokubiminiSerialImpl::sendCalibrationMatrixEntry	(	const uint8_t	subId,
		const double	entry
	)

inlineprivate

Sends a calibration matrix entry to device.

Parameters

subId	The sub-index of the SDO to write to.
entry	The entry on the matrix.

Returns: True if the operation was successful.

Definition at line 742 of file RokubiminiSerialImpl.hpp.

◆ sendCommand()

bool rokubimini::serial::RokubiminiSerialImpl::sendCommand ( const std::string & command )

private

Sends a command to the serial device.

Parameters

command The command to send.

Returns: True if the operation was successful.

Definition at line 1229 of file RokubiminiSerialImpl.cpp.

◆ setAccelerationFilter()

bool rokubimini::serial::RokubiminiSerialImpl::setAccelerationFilter ( const unsigned int filter )

inline

Sets an acceleration filter to the device.

Parameters

filter The filter to be set.

Returns: True if the acceleration torque filter was successfully set.

Definition at line 328 of file RokubiminiSerialImpl.hpp.

◆ setAccelerationRange()

bool rokubimini::serial::RokubiminiSerialImpl::setAccelerationRange ( const unsigned int range )

inline

Sets an acceleration range to the device.

Parameters

range The range to be set.

Returns: True if the acceleration range was successfully set.

Definition at line 360 of file RokubiminiSerialImpl.hpp.

◆ setAngularRateFilter()

bool rokubimini::serial::RokubiminiSerialImpl::setAngularRateFilter ( const unsigned int filter )

inline

Sets an angular rate filter to the device.

Parameters

filter The filter to be set.

Returns: True if the angular rate filter was successfully set.

Definition at line 344 of file RokubiminiSerialImpl.hpp.

◆ setAngularRateRange()

bool rokubimini::serial::RokubiminiSerialImpl::setAngularRateRange ( const unsigned int range )

inline

Sets an angular rate range to the device.

Parameters

range The range to be set.

Returns: True if the angular rate range was successfully set.

Definition at line 376 of file RokubiminiSerialImpl.hpp.

◆ setCommunicationSetup()

bool rokubimini::serial::RokubiminiSerialImpl::setCommunicationSetup	(	const configuration::SensorConfiguration &	sensorConfiguration,
		const uint8_t &	dataFormat,
		const uint8_t &	baudRate
	)

Sets communication setup for the device. This includes setting the temperature compensation, the matrix calibration, the data format and the baud rate.

Parameters

sensorConfiguration	The sensor configuration to be set.
dataFormat	The data format (binary = 0, CSV = 1).
baudRate	The desired baud rate (see user manual).

Returns: True if the operation was successful.

Definition at line 1129 of file RokubiminiSerialImpl.cpp.

◆ setConfigMode()

bool rokubimini::serial::RokubiminiSerialImpl::setConfigMode ( )

Sets the device in config mode.

Returns: True if the operation was successful.

Definition at line 930 of file RokubiminiSerialImpl.cpp.

◆ setForceTorqueFilter()

bool rokubimini::serial::RokubiminiSerialImpl::setForceTorqueFilter ( const configuration::ForceTorqueFilter & filter )

Sets a force torque filter to the device.

Parameters

filter The filter to be set.

Returns: True if the force torque filter was successfully set.

Definition at line 1039 of file RokubiminiSerialImpl.cpp.

◆ setForceTorqueOffset()

bool rokubimini::serial::RokubiminiSerialImpl::setForceTorqueOffset ( const Eigen::Matrix< double, 6, 1 > & forceTorqueOffset )

Sets a force torque offset to the device.

Parameters

forceTorqueOffset The offset to be set.

Returns: True if the offset was successfully set.

Definition at line 1065 of file RokubiminiSerialImpl.cpp.

◆ setHardwareReset()

bool rokubimini::serial::RokubiminiSerialImpl::setHardwareReset ( )

Triggers a hardware reset of the sensor.

Returns: True if the operation was successful.

Definition at line 989 of file RokubiminiSerialImpl.cpp.

◆ setInitMode()

bool rokubimini::serial::RokubiminiSerialImpl::setInitMode ( )

Triggers a software reset of the sensor bringing it to a known state.

Returns: True if the operation was successful.

Definition at line 1004 of file RokubiminiSerialImpl.cpp.

◆ setRunMode()

bool rokubimini::serial::RokubiminiSerialImpl::setRunMode ( )

Sets the device in run mode.

Returns: True if the operation was successful.

Definition at line 967 of file RokubiminiSerialImpl.cpp.

◆ setRunsAsync()

void rokubimini::serial::RokubiminiSerialImpl::setRunsAsync ( bool runsAsync )

inline

Sets the runsAsync_ variable.

Parameters

runsAsync The variable to set.

Definition at line 580 of file RokubiminiSerialImpl.hpp.

◆ setSensorCalibration()

bool rokubimini::serial::RokubiminiSerialImpl::setSensorCalibration ( const calibration::SensorCalibration & sensorCalibration )

Sets a sensor calibration to the device.

Parameters

sensorCalibration The calibration to be set.

Returns: True if the calibration was successfully set.

Definition at line 1086 of file RokubiminiSerialImpl.cpp.

◆ setSensorConfiguration()

bool rokubimini::serial::RokubiminiSerialImpl::setSensorConfiguration ( const configuration::SensorConfiguration & sensorConfiguration )

Sets a sensor configuration to the device.

Parameters

sensorConfiguration The configuration to be set.

Returns: True if the configuration was successfully set.

Definition at line 1117 of file RokubiminiSerialImpl.cpp.

◆ shutdown()

void rokubimini::serial::RokubiminiSerialImpl::shutdown ( )

Shuts down the device. It automatically shuts-down threads and disconnects from serial-port.

Definition at line 138 of file RokubiminiSerialImpl.cpp.

◆ startPollingThread()

bool rokubimini::serial::RokubiminiSerialImpl::startPollingThread ( )

private

This method starts up the polling thread.

Returns: True if the operation was successful.

Definition at line 97 of file RokubiminiSerialImpl.cpp.

◆ startup()

bool rokubimini::serial::RokubiminiSerialImpl::startup ( )

This method starts up communication with the device.

Returns: True if the startup was successful.

Definition at line 109 of file RokubiminiSerialImpl.cpp.

◆ timespecAdd()

timespec rokubimini::serial::RokubiminiSerialImpl::timespecAdd	(	timespec	a,
		timespec	b
	)

inlineprivate

Calculates the sum of two timespecs.

Parameters

a	The first timespec.
b	The second timespec.

Returns: The timespec after adding the two input timespecs.

Definition at line 798 of file RokubiminiSerialImpl.hpp.

◆ timespecToSec()

double rokubimini::serial::RokubiminiSerialImpl::timespecToSec ( timespec t )

inlineprivate

Converts a timespec to seconds.

Parameters

t	The timespec.

Returns: The seconds.

Definition at line 783 of file RokubiminiSerialImpl.hpp.

◆ updateConnectionStatus()

void rokubimini::serial::RokubiminiSerialImpl::updateConnectionStatus ( diagnostic_updater::DiagnosticStatusWrapper & stat )

Fills the Device Connection Status (ROS diagnostics).

Parameters

stat	The status to be filled with the new diagnostics.

Definition at line 1249 of file RokubiminiSerialImpl.cpp.

◆ updateDataFlags()

void rokubimini::serial::RokubiminiSerialImpl::updateDataFlags ( )

Updates the Data Flags variable currentDataFlagsDiagnostics_.

Definition at line 1279 of file RokubiminiSerialImpl.cpp.

◆ updateRead()

void rokubimini::serial::RokubiminiSerialImpl::updateRead ( )

inline

This method is called by the BusManager. Each device attached to this bus reads its data from the buffer (not used).

Definition at line 191 of file RokubiminiSerialImpl.hpp.

◆ updateWrite()

void rokubimini::serial::RokubiminiSerialImpl::updateWrite ( )

inline

This method is called by the BusManager. Each device attached to the bus writes its data to the buffer (not used).

Definition at line 202 of file RokubiminiSerialImpl.hpp.

◆ writeSerial()

bool rokubimini::serial::RokubiminiSerialImpl::writeSerial ( const std::string & str )

private

Writes an Ascii string to the serial device.

Parameters

str	The string to write.

Returns: True if the operation was successful.

Definition at line 1353 of file RokubiminiSerialImpl.cpp.

Member Data Documentation

◆ baudRate_

BaudRateStruct rokubimini::serial::RokubiminiSerialImpl::baudRate_

private

The baud rate of the serial communication, as a termios bit mask.

Definition at line 1031 of file RokubiminiSerialImpl.hpp.

◆ connectionState_

boost::atomic< ConnectionState > rokubimini::serial::RokubiminiSerialImpl::connectionState_

private

Internal connection state.

Definition at line 1162 of file RokubiminiSerialImpl.hpp.

◆ connectionThread_

boost::thread rokubimini::serial::RokubiminiSerialImpl::connectionThread_

private

Connection thread handle.

Definition at line 1144 of file RokubiminiSerialImpl.hpp.

◆ currentDataFlagsDiagnostics_

std::atomic< DataStatus > rokubimini::serial::RokubiminiSerialImpl::currentDataFlagsDiagnostics_

private

The current Data Flags Diagnostics (Data Status) which is updated when a new frame is published and is published by the DataFlagsDiagnosticsPublisher.

Definition at line 1369 of file RokubiminiSerialImpl.hpp.

◆ dataReady_

bool rokubimini::serial::RokubiminiSerialImpl::dataReady_

private

This flag is on when new data are ready to be published.

Definition at line 1343 of file RokubiminiSerialImpl.hpp.

◆ DEFAULT_BAUD_RATE_OPTION

const static uint8_t rokubimini::serial::RokubiminiSerialImpl::DEFAULT_BAUD_RATE_OPTION = 3

staticprivate

Definition at line 1258 of file RokubiminiSerialImpl.hpp.

◆ errorFlags_

ErrorFlags rokubimini::serial::RokubiminiSerialImpl::errorFlags_

private

Flags to indicate errors in serial communication.

Definition at line 1170 of file RokubiminiSerialImpl.hpp.

◆ frame_

RxFrame rokubimini::serial::RokubiminiSerialImpl::frame_

private

The internal variable for the receiving frame. This variable represents the raw data received from the sensor.

Definition at line 1122 of file RokubiminiSerialImpl.hpp.

◆ frameCrcErrorCounter_

unsigned long rokubimini::serial::RokubiminiSerialImpl::frameCrcErrorCounter_

private

Counter for frames with CRC errors.

Definition at line 1221 of file RokubiminiSerialImpl.hpp.

◆ frameDataStatus_

DataStatus rokubimini::serial::RokubiminiSerialImpl::frameDataStatus_

private

The current frame's Data Status.

Definition at line 1359 of file RokubiminiSerialImpl.hpp.

◆ frameHeader

uint8_t rokubimini::serial::RokubiminiSerialImpl::frameHeader = 0xAA

private

The frame header value.

Definition at line 1112 of file RokubiminiSerialImpl.hpp.

◆ frameOffset_

uint32_t rokubimini::serial::RokubiminiSerialImpl::frameOffset_

private

The frame offset to start reading (in bytes).

Definition at line 1273 of file RokubiminiSerialImpl.hpp.

◆ frameReceivedCounter_

unsigned long rokubimini::serial::RokubiminiSerialImpl::frameReceivedCounter_

private

Received frame counter.

Definition at line 1203 of file RokubiminiSerialImpl.hpp.

◆ frameSuccessCounter_

unsigned long rokubimini::serial::RokubiminiSerialImpl::frameSuccessCounter_

private

Correct frames counter.

Definition at line 1212 of file RokubiminiSerialImpl.hpp.

◆ frameSync_

boost::atomic< bool > rokubimini::serial::RokubiminiSerialImpl::frameSync_

private

Flag that indicates if the frame is synced.

Definition at line 1085 of file RokubiminiSerialImpl.hpp.

◆ frameSyncErrorCounter_

unsigned int rokubimini::serial::RokubiminiSerialImpl::frameSyncErrorCounter_

private

Frame sync errors.

Definition at line 1229 of file RokubiminiSerialImpl.hpp.

◆ frameTimestamp_

ros::Time rokubimini::serial::RokubiminiSerialImpl::frameTimestamp_

private

Definition at line 1370 of file RokubiminiSerialImpl.hpp.

◆ FTDI_DRIVER_LATENCY

constexpr static double rokubimini::serial::RokubiminiSerialImpl::FTDI_DRIVER_LATENCY = 0.001

staticconstexprprivate

Definition at line 1293 of file RokubiminiSerialImpl.hpp.

◆ isRunning_

boost::atomic< bool > rokubimini::serial::RokubiminiSerialImpl::isRunning_

private

Internal flags/indicators.

Internal flag to indicate if the threads are running.

Definition at line 1186 of file RokubiminiSerialImpl.hpp.

◆ MAX_BAUD_RATE_OPTION

const static uint8_t rokubimini::serial::RokubiminiSerialImpl::MAX_BAUD_RATE_OPTION = 4

staticprivate

Definition at line 1265 of file RokubiminiSerialImpl.hpp.

◆ maxCountOpenSerialPort_

unsigned int rokubimini::serial::RokubiminiSerialImpl::maxCountOpenSerialPort_

private

Maximum attempts to open serial port.

Definition at line 1244 of file RokubiminiSerialImpl.hpp.

◆ maxFrameSyncErrorCounts_

unsigned int rokubimini::serial::RokubiminiSerialImpl::maxFrameSyncErrorCounts_

private

Maximum acceptable frame sync errors.

Definition at line 1237 of file RokubiminiSerialImpl.hpp.

◆ MAXIMUM_ACCEPTABLE_TIMEOUT

constexpr static double rokubimini::serial::RokubiminiSerialImpl::MAXIMUM_ACCEPTABLE_TIMEOUT = 1.77

staticconstexprprivate

Definition at line 1310 of file RokubiminiSerialImpl.hpp.

◆ modeState_

boost::atomic< ModeState > rokubimini::serial::RokubiminiSerialImpl::modeState_

private

Mode state of the sensor.

Definition at line 1178 of file RokubiminiSerialImpl.hpp.

◆ name_

std::string rokubimini::serial::RokubiminiSerialImpl::name_

private

Name of the sensor.

Definition at line 1002 of file RokubiminiSerialImpl.hpp.

◆ newFrameIsAvailable_

std::condition_variable rokubimini::serial::RokubiminiSerialImpl::newFrameIsAvailable_

private

The condition variable that is used between the publishing and the polling thread to synchronize on new data.

Definition at line 1335 of file RokubiminiSerialImpl.hpp.

◆ NSEC_PER_SEC

const static uint64_t rokubimini::serial::RokubiminiSerialImpl::NSEC_PER_SEC = 1000000000

staticprivate

Definition at line 1251 of file RokubiminiSerialImpl.hpp.

◆ placeholder_

RxFrame rokubimini::serial::RokubiminiSerialImpl::placeholder_

private

A placeholder to save unfinished frames.

Definition at line 1281 of file RokubiminiSerialImpl.hpp.

◆ pollingSyncErrorCounter_

unsigned long rokubimini::serial::RokubiminiSerialImpl::pollingSyncErrorCounter_

private

Internal statistics and error counters.

Synchronization error counter.

Definition at line 1195 of file RokubiminiSerialImpl.hpp.

◆ pollingThread_

boost::thread rokubimini::serial::RokubiminiSerialImpl::pollingThread_

private

Polling thread handle.

Definition at line 1153 of file RokubiminiSerialImpl.hpp.

◆ port_

std::string rokubimini::serial::RokubiminiSerialImpl::port_

private

The serial port to connect to.

Definition at line 1022 of file RokubiminiSerialImpl.hpp.

◆ productName_

std:string rokubimini::serial::RokubiminiSerialImpl::productName_

private

The product name of the device.

Definition at line 1040 of file RokubiminiSerialImpl.hpp.

◆ readingMutex_

std::recursive_mutex rokubimini::serial::RokubiminiSerialImpl::readingMutex_

mutableprivate

Mutex prohibiting simultaneous access the internal Reading variable.

Definition at line 1058 of file RokubiminiSerialImpl.hpp.

◆ readTimeout_

double rokubimini::serial::RokubiminiSerialImpl::readTimeout_

private

The timeout to read from device (in seconds).

Definition at line 1318 of file RokubiminiSerialImpl.hpp.

◆ runInThreadedMode_

bool rokubimini::serial::RokubiminiSerialImpl::runInThreadedMode_

private

Flag to indicate whether the driver should setup worker threads at startup.

Definition at line 1135 of file RokubiminiSerialImpl.hpp.

◆ runsAsync_

std::atomic< bool > rokubimini::serial::RokubiminiSerialImpl::runsAsync_

private

The flag that represents whether the driver runs asynchronously or not.

Definition at line 1351 of file RokubiminiSerialImpl.hpp.

◆ serialImplReading_

Reading rokubimini::serial::RokubiminiSerialImpl::serialImplReading_

private

The internal reading variable. It's used for providing to client code the sensor readings, through the getReading () function.

Definition at line 1013 of file RokubiminiSerialImpl.hpp.

◆ serialMutex_

std::recursive_mutex rokubimini::serial::RokubiminiSerialImpl::serialMutex_

mutableprivate

Mutex prohibiting simultaneous access to Serial device.

Definition at line 1067 of file RokubiminiSerialImpl.hpp.

◆ serialNumber_

uint32_t rokubimini::serial::RokubiminiSerialImpl::serialNumber_

private

The serial number of the device.

Definition at line 1049 of file RokubiminiSerialImpl.hpp.

◆ TIMEOUT_MARGIN

constexpr static double rokubimini::serial::RokubiminiSerialImpl::TIMEOUT_MARGIN = 0.15

staticconstexprprivate

Definition at line 1301 of file RokubiminiSerialImpl.hpp.

◆ timeoutCounter_

unsigned int rokubimini::serial::RokubiminiSerialImpl::timeoutCounter_

private

Timeout counter.

Definition at line 1326 of file RokubiminiSerialImpl.hpp.

◆ usbFileDescriptor_

boost::atomic< int > rokubimini::serial::RokubiminiSerialImpl::usbFileDescriptor_

private

The USB file descriptor.

Definition at line 1076 of file RokubiminiSerialImpl.hpp.

◆ usbStreamIn_

std::ifstream rokubimini::serial::RokubiminiSerialImpl::usbStreamIn_

private

Input stream for the USB file descriptor.

Definition at line 1094 of file RokubiminiSerialImpl.hpp.

◆ usbStreamOut_

std::ofstream rokubimini::serial::RokubiminiSerialImpl::usbStreamOut_

private

Output stream for the USB file descriptor.

Definition at line 1103 of file RokubiminiSerialImpl.hpp.

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

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Member Typedef Documentation

◆ timespec

Constructor & Destructor Documentation

◆ RokubiminiSerialImpl() [1/2]

◆ RokubiminiSerialImpl() [2/2]

◆ ~RokubiminiSerialImpl()

Member Function Documentation

◆ calcCrc16X25()

◆ clearReadBuffer()

◆ closeSerialPort()

◆ connect() [1/2]

◆ connect() [2/2]

◆ connectionWorker()

◆ crcCcittUpdate()

◆ createDataFlagsDiagnostics()

◆ diffSec()

◆ firmwareUpdate()

◆ getConnectionState()

◆ getConnectionStateString()

◆ getErrorFlags()

◆ getErrorStrings()

◆ getForceTorqueSamplingRate()

◆ getFrameDataStatus()

◆ getModeStateString()

◆ getName()

◆ getProductName()

◆ getReading()

◆ getSerialNumber()

◆ hasError()

◆ hasFrameSync()

◆ increaseAndCheckTimeoutCounter()

◆ init()

◆ initSensorCommunication()

◆ initSerialPort()

◆ isConnected()

◆ isConnecting()

◆ isInConfigMode()

◆ isRunning()

◆ loadConfig()

◆ openSerialPort()

◆ parseAcknowledgement()

◆ parseCommunicationMsgs()

◆ parseRegexWaitTimeout()

◆ pollingWorker()

◆ printUserConfig()

◆ readDevice()

◆ readSerialNoWait()

◆ readSerialWaitTimeout()

◆ resetDataFlags()

◆ runsAsync()

◆ saveConfigParameter()

◆ sendCalibrationMatrixEntry()

◆ sendCommand()

◆ setAccelerationFilter()

◆ setAccelerationRange()

◆ setAngularRateFilter()

◆ setAngularRateRange()

◆ setCommunicationSetup()

◆ setConfigMode()

◆ setForceTorqueFilter()

◆ setForceTorqueOffset()

◆ setHardwareReset()

◆ setInitMode()

◆ setRunMode()

◆ setRunsAsync()

◆ setSensorCalibration()

◆ setSensorConfiguration()

◆ shutdown()

◆ startPollingThread()

◆ startup()

◆ timespecAdd()

◆ timespecToSec()

◆ updateConnectionStatus()

◆ updateDataFlags()