Hokuyo Automatic Port Devices Driver

This software driver implements the protocol SCIP-2.0 for interfacing HOKUYO URG and UTM laser scanners. More..

#include <mrpt/hwdrivers/CHokuyoURG.h>

The port will be a 'Standard TCP/IP Port' (not any of the other choices) with a few configuration settings: protocol Raw with the default port of 9100; SNMP Status Enabled with a community name of public and device index of 1. At the time you create such a port, the Windows Server will attempt to communicate with the device and choose settings.

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Inheritance diagram for mrpt::hwdrivers::CHokuyoURG:

[legend]Collaboration diagram for mrpt::hwdrivers::CHokuyoURG:[legend]List of all members.

Public Member Functions
CHokuyoURG ()
Constructor.
virtual	~CHokuyoURG ()
Destructor: turns the laser off.
void	doProcessSimple (bool &outThereIsObservation, mrpt::slam::CObservation2DRangeScan &outObservation, bool &hardwareError)
Specific laser scanner 'software drivers' must process here new data from the I/O stream, and, if a whole scan has arrived, return it.
bool	turnOn ()
Enables the scanning mode (which may depend on the specific laser device); this must be called before asking for observations to assure that the protocol has been initializated.
bool	turnOff ()
Disables the scanning mode (this can be used to turn the device in low energy mode, if available).
void	purgeBuffers ()
Empties the RX buffers of the serial port.
void	setSerialPort (const std::string &port_name)
If set to non-empty, the serial port will be attempted to be opened automatically when this class is first used to request data from the laser.
const std::string	getSerialPort ()
Returns the currently set serial port.
void	setReducedFOV (const double fov)
If called (before calling 'turnOn'), the field of view of the laser is reduced to the given range (in radians), discarding the rest of measures.
void	setVerbose (bool enable=true)
Protected Member Functions
bool	checkCOMisOpen ()
Returns true if there is a valid stream bound to the laser scanner, otherwise it first try to open the serial port 'm_com_port'.
void	loadConfig_sensorSpecific (const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection)
Loads specific configuration for the device from a given source of configuration parameters, for example, an '.ini' file, loading from the section '[iniSection]' (see utils::CConfigFileBase and derived classes) See hwdrivers::CHokuyoURG for the possible parameters.
Protected Attributes
double	m_reduced_fov
Used to reduce artificially the interval of scan ranges.
std::string	m_com_port
If set to non-empty, the serial port will be attempted to be opened automatically when this class is first used to request data from the laser.
TSensorInfo	m_sensor_info
The information gathered when the laser is first open.
bool	m_I_am_owner_serial_port
uint32_t	m_timeStartUI
Time of the first data packet, for synchronization purposes.
mrpt::system::TTimeStamp	m_timeStartTT
Private Member Functions
bool	enableSCIP20 ()
Enables the SCIP2.0 protocol (this must be called at the very begining!).
bool	setHighBaudrate ()
Passes to 115200bps bitrate.
bool	switchLaserOn ()
Switchs the laser on.
bool	switchLaserOff ()
Switchs the laser off.
bool	setMotorSpeed (int motoSpeed_rpm)
Changes the motor speed in rpm's (default 600rpm).
bool	displayVersionInfo ()
Ask to the device, and print to the debug stream, details about the firmware version,serial number,.
bool	displaySensorInfo (CHokuyoURG::TSensorInfo *out_data=NULL)
Ask to the device, and print to the debug stream, details about the sensor model.
bool	startScanningMode ()
Start the scanning mode, using parameters stored in the object (loaded from the .ini file) After this command the device will start to send scans until 'switchLaserOff' is called.
void	initialize ()
Turns the laser on.
bool	receiveResponse (const char sentCmd_forEchoVerification, char &rcv_status0, char &rcv_status1, char rcv_data, int &rcv_dataLength)
Waits for a response from the device.
bool	assureBufferHasBytes (const size_t nDesiredBytes)
Assures a minimum number of bytes in the input buffer, reading from the serial port only if required.
Private Attributes
int	m_firstRange
The first and last ranges to consider from the scan.
int	m_lastRange
int	m_motorSpeed_rpm
The motor speed (default=600rpm).
poses::CPose3D	m_sensorPose
The sensor 6D pose:.
mrpt::utils::circular_buffer< uint8_t >	m_rx_buffer
Auxiliary buffer for readings.
std::string	m_lastSentMeasCmd
The last sent measurement command (MDXXX), including the last 0x0A.
bool	m_verbose
Classes
struct	TSensorInfo
Used in CHokuyoURG::displayVersionInfo. More..

Detailed Description

This software driver implements the protocol SCIP-2.0 for interfacing HOKUYO URG and UTM laser scanners.

Refer to the wiki page for more details: http://www.mrpt.org/Example:HOKUYO_URG/UTM_Laser_Scanner

See also the application 'rawlog-grabber' for a ready-to-use application to gather data from the scanner.

Definition at line 72 of file CHokuyoURG.h.

Constructor & Destructor Documentation

Constructor.

virtual mrpt::hwdrivers::CHokuyoURG::~CHokuyoURG ( ) [virtual]

Member Function Documentation

bool mrpt::hwdrivers::CHokuyoURG::assureBufferHasBytes ( const size_t nDesiredBytes ) [private]

Assures a minimum number of bytes in the input buffer, reading from the serial port only if required.

[protected]

Returns true if there is a valid stream bound to the laser scanner, otherwise it first try to open the serial port 'm_com_port'.

bool mrpt::hwdrivers::CHokuyoURG::displaySensorInfo ( CHokuyoURG::TSensorInfo * out_data = NULL ) [private]

Ask to the device, and print to the debug stream, details about the sensor model.

It also optionally saves all the information in an user supplied data structure 'out_data'.

[private]

Ask to the device, and print to the debug stream, details about the firmware version,serial number,.

[virtual]

Specific laser scanner 'software drivers' must process here new data from the I/O stream, and, if a whole scan has arrived, return it.

This method will be typically called in a different thread than other methods, and will be called in a timely fashion.

Implements mrpt::hwdrivers::C2DRangeFinderAbstract.

bool mrpt::hwdrivers::CHokuyoURG::enableSCIP20 ( ) [private]

Enables the SCIP2.0 protocol (this must be called at the very begining!).

[inline]

Returns the currently set serial port.

[private, virtual]

Turns the laser on.

Reimplemented from mrpt::hwdrivers::CGenericSensor.

void mrpt::hwdrivers::CHokuyoURG::loadConfig_sensorSpecific	(	const mrpt::utils::CConfigFileBase &	configSource,
const std::string &	iniSection
)	`[protected, virtual]`

Loads specific configuration for the device from a given source of configuration parameters, for example, an '.ini' file, loading from the section '[iniSection]' (see utils::CConfigFileBase and derived classes) See hwdrivers::CHokuyoURG for the possible parameters.

Implements mrpt::hwdrivers::CGenericSensor.

void mrpt::hwdrivers::CHokuyoURG::purgeBuffers

(

)

bool mrpt::hwdrivers::CHokuyoURG::receiveResponse	(	const char *	sentCmd_forEchoVerification,
char &	rcv_status0,
char &	rcv_status1,
char *	rcv_data,
int &	rcv_dataLength
)	`[private]`

Waits for a response from the device.

[private]

Passes to 115200bps bitrate.

[private]

Changes the motor speed in rpm's (default 600rpm).

[inline]

If called (before calling 'turnOn'), the field of view of the laser is reduced to the given range (in radians), discarding the rest of measures.

Call with '0' to disable this reduction again (the default).

Definition at line 205 of file CHokuyoURG.h.

void mrpt::hwdrivers::CHokuyoURG::setSerialPort ( const std::string & port_name ) [inline]

If set to non-empty, the serial port will be attempted to be opened automatically when this class is first used to request data from the laser.

Definition at line 197 of file CHokuyoURG.h.

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void mrpt::hwdrivers::CHokuyoURG::setVerbose ( bool enable = true ) [inline]

bool mrpt::hwdrivers::CHokuyoURG::startScanningMode ( ) [private]

Start the scanning mode, using parameters stored in the object (loaded from the .ini file) After this command the device will start to send scans until 'switchLaserOff' is called.

[private]

Switchs the laser off.

[private]

bool mrpt::hwdrivers::CHokuyoURG::turnOff ( ) [virtual]

Disables the scanning mode (this can be used to turn the device in low energy mode, if available).

Implements mrpt::hwdrivers::C2DRangeFinderAbstract.

bool mrpt::hwdrivers::CHokuyoURG::turnOn ( ) [virtual]

Enables the scanning mode (which may depend on the specific laser device); this must be called before asking for observations to assure that the protocol has been initializated.

Hokuyo automatic port devices driver windows 7

Implements mrpt::hwdrivers::C2DRangeFinderAbstract.

Member Data Documentation

std::string mrpt::hwdrivers::CHokuyoURG::m_com_port [protected]

Download elcom s.r.o driver. If set to non-empty, the serial port will be attempted to be opened automatically when this class is first used to request data from the laser.

Definition at line 217 of file CHokuyoURG.h.

int mrpt::hwdrivers::CHokuyoURG::m_firstRange [private]

The first and last ranges to consider from the scan.

Definition at line 90 of file CHokuyoURG.h.

bool mrpt::hwdrivers::CHokuyoURG::m_I_am_owner_serial_port [protected]

int mrpt::hwdrivers::CHokuyoURG::m_lastRange [private]

std::string mrpt::hwdrivers::CHokuyoURG::m_lastSentMeasCmd [private]

The last sent measurement command (MDXXX), including the last 0x0A.

Definition at line 102 of file CHokuyoURG.h.

int mrpt::hwdrivers::CHokuyoURG::m_motorSpeed_rpm [private]

The motor speed (default=600rpm).

Definition at line 94 of file CHokuyoURG.h.

double mrpt::hwdrivers::CHokuyoURG::m_reduced_fov [protected]

Used to reduce artificially the interval of scan ranges.

Definition at line 215 of file CHokuyoURG.h.

mrpt::utils::circular_buffer<uint8_t> mrpt::hwdrivers::CHokuyoURG::m_rx_buffer [private]

Auxiliary buffer for readings.

Definition at line 100 of file CHokuyoURG.h.

TSensorInfomrpt::hwdrivers::CHokuyoURG::m_sensor_info [protected]

The information gathered when the laser is first open.

Definition at line 220 of file CHokuyoURG.h.

poses::CPose3Dmrpt::hwdrivers::CHokuyoURG::m_sensorPose [private]

The sensor 6D pose:.

Definition at line 98 of file CHokuyoURG.h.

mrpt::system::TTimeStampmrpt::hwdrivers::CHokuyoURG::m_timeStartTT [protected]

uint32_t mrpt::hwdrivers::CHokuyoURG::m_timeStartUI [protected]

Time of the first data packet, for synchronization purposes.

Definition at line 224 of file CHokuyoURG.h.

bool mrpt::hwdrivers::CHokuyoURG::m_verbose [private]

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This article describes how to use Device Manager to configure the hardware devices that are installed on your Windows Server 2003-based computer.

Original product version: Windows Server 2003
Original KB number: 323423

Summary

Device Manager displays a graphical view of the hardware that is installed on your computer. Use this tool when you want to view and manage hardware devices and their drivers. You must be logged on to the computer as an administrator or as a member of the Administrators group to add or remove devices or to configure device properties in Device Manager.

When you install a Plug and Play device, Windows automatically configures the device so that it works correctly with the other devices that are installed on the computer. During the configuration process, Windows assigns a unique set of system resource settings to the device. The following list describes the four types of resources that a device can use:

Interrupt request (IRQ) line numbers
Direct memory access (DMA) channels
Input/output (I/O) port addresses
Memory address ranges

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Each resource that is assigned to a device is given a unique value. Occasionally, a device conflict may occur if two devices require the same resources. If this conflict occurs, you can manually configure the device to assign unique resources to each device. In some situations, depending on the device drivers and the computer, two devices can share a resource (for example, interrupts on Peripheral Component Interconnect [PCI] devices).

When you install a non-Plug and Play device, Windows doesn't automatically configure resource settings for the device. Depending on the type of device, you may have to manually configure these settings. Before you do so, either contact the hardware manufacturer, or see the documentation that is included with the device for more information.

Typically, Windows identifies devices and their resource requests, and then automatically gives the resource settings for your hardware. In most situations, you don't have to modify resource settings for your hardware. Don't change resource settings for a Plug and Play device unless it's necessary. When you manually configure a resource, the setting is fixed. So Windows can't modify resource assignments if that is required, and Windows can't assign that resource to another device.

How to configure a device in Device Manager

To configure a device in Device Manager, follow these steps.

Important

Use caution when you configure resource settings for a device. If you configure resources incorrectly, you can disable your hardware, and you can cause your computer to stop working. Change resource settings only when you are sure that the settings that you want to use are unique and don't conflict with settings for other devices, or when a hardware manufacturer has provided you with specific resource settings for a device.

Sign in to your computer as an administrator or as a member of the Administrators group.
Select Start, point to Administrative Tools, and then select Computer Management.
Under System Tools in the console tree, select Device Manager.
The devices that are installed on your computer are listed in the right pane.
Double-click the type of device that you want to configure--for example, Ports (COM & LPT).
Right-click the device that you want to configure, and then select Properties.
Select the Resources tab.
Click to clear the Use automatic settings check box.
Note
The Use automatic settings check box is unavailable and appears dimmed, both on devices for which there are no other settings to configure and on devices that are controlled by Plug and Play resources and which do not require user modification.
In the Settings based on box, select the hardware configuration that you want to modify--for example, Basic configuration 0000.
Under Resource type in the Resource settings box, select the type of resource that you want to modify--for example, Interrupt Request.
Select Change Setting.
In the Edit Resource dialog box, type the value that you want for the resource, and then select OK.
Repeat steps 8 through 11 to configure the resource settings that you want for the device.
Quit Device Manager.

How to view resource settings in Device Manager

To view a list of resources and the devices that are using them by type or by connection, follow these steps:

Select Start, point to Administrative Tools, and then select Computer Management.
Under System Tools in the console tree, select Device Manager.
The devices that are installed on your computer are listed in the right pane. The default view lists devices by type.
Use one of the following methods:
- To view a list of resources by type, select Resources by type on the View menu.
- To view a list of resources by connection type, select Resources by connection on the View menu.

Use Device Manager to search for device conflicts

A device conflict occurs when the same resources are given to two or more devices. Use Device Manager to search for device conflicts. To do so, follow these steps:

Select Start, point to Administrative Tools, and then select Computer Management.
Under System Tools in the console tree, select Device Manager.
The devices that are installed on your computer are listed in the right pane.
Double-click the type of device that you want to test--for example, Sound, video and game controllers.
Right-click the device that you want to test for conflicts, and then select Properties.
Select the Resources tab.
Any conflicts that exist for the device are listed under Conflicting device list.

Windows Hardware Troubleshooter