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CImpinjRFID.h
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1/* +---------------------------------------------------------------------------+
2 | Mobile Robot Programming Toolkit (MRPT) |
3 | http://www.mrpt.org/ |
4 | |
5 | Copyright (c) 2005-2016, Individual contributors, see AUTHORS file |
6 | See: http://www.mrpt.org/Authors - All rights reserved. |
7 | Released under BSD License. See details in http://www.mrpt.org/License |
8 +---------------------------------------------------------------------------+ */
9#ifndef CImpinjRFID_H
10#define CImpinjRFID_H
11
15
18
19namespace mrpt
20{
21 namespace hwdrivers
22 {
23 /** This class implements an interface to an Impinj RFID reader. This object connects to a program that does the actual communication with the receiver. This is done because the manufacturer only provides libraries for C# and Java. The program that runs the device must be started after this object
24 */
26 {
28
29 private:
30
31 /** Poses (Antenna 1)
32 */
33 float pose_x_1, pose_y_1, pose_z_1, pose_yaw_1, pose_pitch_1, pose_roll_1;
34
35 /** Poses (Antenna 2)
36 */
37 float pose_x_2, pose_y_2, pose_z_2, pose_yaw_2, pose_pitch_2, pose_roll_2;
38
39 /** Server port
40 */
41 int port;
42
43 /** IP of the module (usually 127.0.0.1)
44 */
45 std::string IPm;
46
47 /** Reader name
48 */
49 std::string reader_name;
50
51 /** Server socket (listens for the incoming connection)
52 */
54
55 /** Client socket (handles the connection to the client)
56 */
58
59 /** Driver executable path
60 */
61 std::string driver_path;
62
63 /** Connection status
64 */
66
67 /** start the external driver
68 */
70
72
73
74 public:
75 /** Default constructor.
76 */
78 virtual ~CImpinjRFID();
79
80 /** Connect to the reader.
81 */
82 void connect();
83
84 void doProcess();
85
86 void initialize();
87
88
90 const mrpt::utils::CConfigFileBase &configSource,
91 const std::string &section);
92
93 /** Gets the information of the tags as a timestamped observation
94 * NOTE: Deprecated, use getObservations instead. See CGenericSensor documentation. This function is kept for internal use of the module
95 * \return Returns true if the observation was correct, and false otherwise
96 * \sa mrpt::hwdrivers::CGenericSensor
97 */
99
100
101 /** Close the connection to the reader.
102 */
104 }; // End of class def.
105
106 } // End of namespace
107} // End of namespace
108#endif
#define DEFINE_GENERIC_SENSOR(class_name)
This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...
A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabbe...
This class implements an interface to an Impinj RFID reader.
Definition CImpinjRFID.h:26
static void dummy_startDriver(CImpinjRFID *o)
mrpt::utils::CServerTCPSocket * server
Server socket (listens for the incoming connection)
Definition CImpinjRFID.h:53
bool getObservation(mrpt::obs::CObservationRFID &obs)
Gets the information of the tags as a timestamped observation NOTE: Deprecated, use getObservations i...
void connect()
Connect to the reader.
std::string driver_path
Driver executable path.
Definition CImpinjRFID.h:61
void closeReader()
Close the connection to the reader.
void initialize()
This method can or cannot be implemented in the derived class, depending on the need for it.
void doProcess()
This method will be invoked at a minimum rate of "process_rate" (Hz)
void startDriver()
start the external driver
bool connected
Connection status.
Definition CImpinjRFID.h:65
std::string IPm
IP of the module (usually 127.0.0.1)
Definition CImpinjRFID.h:45
std::string reader_name
Reader name.
Definition CImpinjRFID.h:49
CImpinjRFID()
Default constructor.
mrpt::utils::CClientTCPSocket * client
Client socket (handles the connection to the client)
Definition CImpinjRFID.h:57
void loadConfig_sensorSpecific(const mrpt::utils::CConfigFileBase &configSource, const std::string &section)
Loads specific configuration for the device from a given source of configuration parameters,...
This represents one or more RFID tags observed by a receiver.
A TCP socket that can be connected to a TCP server, implementing MRPT's CStream interface for passing...
This class allows loading and storing values and vectors of different types from a configuration text...
A TCP socket that can be wait for client connections to enter.
#define HWDRIVERS_IMPEXP
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.



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