FoxgloveStudio component

Table of Contents

• Ports
  • frames (multiple in)
  • measure (multiple in)
  • gps (multiple in)
  • states (multiple in)
• Services
  • add_port (activity)
  • remove_port (activity)
  • set_debug (attribute)
  • set_verbose_level (attribute)
  • setup_server (attribute)
  • start_foxglove_server (function)
  • stop_foxglove_server (function)
• Tasks
  • main

A GenoM module for foxglove studio integration.

Ports

frames (multiple in)

Data structure struct ::or::sensor::frame frames struct ::or::time::ts ts long sec long nsec boolean compressed unsigned short height unsigned short width unsigned short bpp sequence< octet > pixels

The image frame port.

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measure (multiple in)

Data structure struct ::or_pose_estimator::state measure struct ::or::time::ts ts long sec long nsec boolean intrinsic optional< struct ::or::t3d::pos > pos double x double y double z optional< struct ::or::t3d::att > att double qw double qx double qy double qz optional< struct ::or::t3d::vel > vel double vx double vy double vz optional< struct ::or::t3d::avel > avel double wx double wy double wz optional< struct ::or::t3d::acc > acc double ax double ay double az optional< struct ::or::t3d::aacc > aacc double awx double awy double awz optional< struct ::or::t3d::pos_cov > pos_cov double cov[6] optional< struct ::or::t3d::att_cov > att_cov double cov[10] optional< struct ::or::t3d::att_pos_cov > att_pos_cov double cov[12] optional< struct ::or::t3d::vel_cov > vel_cov double cov[6] optional< struct ::or::t3d::avel_cov > avel_cov double cov[6] optional< struct ::or::t3d::acc_cov > acc_cov double cov[6] optional< struct ::or::t3d::aacc_cov > aacc_cov double cov[6]

The sensor measurements.

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gps (multiple in)

Data structure struct ::FoxgloveStudio::solution_s gps struct ::or::time::ts ts long sec long nsec struct ::or::time::ts utc long sec long nsec enum ::FoxgloveStudio::fix_s fix ∈ { fix_none, fix_interp, fix_single, fix_diff, fix_rtk_float, fix_rtk, fix_fixed } struct ::FoxgloveStudio::llh_s llh double latitude double longitude double height struct ::FoxgloveStudio::enu_s pos double east double north double up struct ::FoxgloveStudio::enu_s pos_sigma double east double north double up struct ::FoxgloveStudio::enu_s vel double east double north double up struct ::FoxgloveStudio::enu_s vel_sigma double east double north double up unsigned short sats unsigned short totalsats sequence< struct ::FoxgloveStudio::satlist_s, 8 > satlist string<8> system sequence< unsigned short, 64 > used sequence< unsigned short, 64 > unused

The gps measurements.

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states (multiple in)

Data structure struct ::or_pose_estimator::state states struct ::or::time::ts ts long sec long nsec boolean intrinsic optional< struct ::or::t3d::pos > pos double x double y double z optional< struct ::or::t3d::att > att double qw double qx double qy double qz optional< struct ::or::t3d::vel > vel double vx double vy double vz optional< struct ::or::t3d::avel > avel double wx double wy double wz optional< struct ::or::t3d::acc > acc double ax double ay double az optional< struct ::or::t3d::aacc > aacc double awx double awy double awz optional< struct ::or::t3d::pos_cov > pos_cov double cov[6] optional< struct ::or::t3d::att_cov > att_cov double cov[10] optional< struct ::or::t3d::att_pos_cov > att_pos_cov double cov[12] optional< struct ::or::t3d::vel_cov > vel_cov double cov[6] optional< struct ::or::t3d::avel_cov > avel_cov double cov[6] optional< struct ::or::t3d::acc_cov > acc_cov double cov[6] optional< struct ::or::t3d::aacc_cov > aacc_cov double cov[6]

The pose estimation states.

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Services

add_port (activity)

Inputs string<128> port_name Genom port name enum ::FoxgloveStudio::PortType port_type Genom port type ∈ { or_sensor_frame, or_sensor_imu, or_sensor_magnetometer, or_pose_estimator_state, or_sensor_gps }

Throws exception ::FoxgloveStudio::e_BAD_CONFIG short code string<128> message exception ::FoxgloveStudio::e_BAD_PORT short code string<128> message exception ::FoxgloveStudio::e_OPENCV_ERROR short code string<128> message exception ::FoxgloveStudio::e_OUT_OF_MEM short code string<128> message

Context In task main Reads port frames (multiple in) Reads port measure (multiple in) Reads port gps (multiple in) Reads port states (multiple in)

Add a port to the list of ports to be published.

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remove_port (activity)

Inputs string<128> port_name Genom port name

Throws exception ::FoxgloveStudio::e_BAD_CONFIG short code string<128> message exception ::FoxgloveStudio::e_BAD_PORT short code string<128> message exception ::FoxgloveStudio::e_OPENCV_ERROR short code string<128> message exception ::FoxgloveStudio::e_OUT_OF_MEM short code string<128> message

Context In task main

Remove a port from the list of ports to be published.

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set_debug (attribute)

Inputs boolean debug (default "0") Enable debug (default: false)

Set the debug mode.

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set_verbose_level (attribute)

Inputs octet verbose_level (default "0") Verbose level

Set the verbose level.

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setup_server (attribute)

Inputs string server_ip (default "0.0.0.0") Websocket server ip unsigned short server_port (default "8765") Websocket server port

Setup the websocket connection.

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start_foxglove_server (function)

Throws exception ::FoxgloveStudio::e_BAD_CONFIG short code string<128> message exception ::FoxgloveStudio::e_BAD_PORT short code string<128> message exception ::FoxgloveStudio::e_OPENCV_ERROR short code string<128> message exception ::FoxgloveStudio::e_OUT_OF_MEM short code string<128> message

Start the foxglove server.

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stop_foxglove_server (function)

Inputs string server_ip (default "0.0.0.0") Websocket server ip unsigned short server_port (default "8765") Websocket server port

Throws exception ::FoxgloveStudio::e_BAD_CONFIG short code string<128> message exception ::FoxgloveStudio::e_BAD_PORT short code string<128> message exception ::FoxgloveStudio::e_OPENCV_ERROR short code string<128> message exception ::FoxgloveStudio::e_OUT_OF_MEM short code string<128> message

Stop the foxglove server.

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Tasks

main

Context Free running Reads port frames (multiple in) Reads port measure (multiple in) Reads port gps (multiple in) Reads port states (multiple in)

Throws exception ::FoxgloveStudio::e_BAD_CONFIG short code string<128> message exception ::FoxgloveStudio::e_BAD_PORT short code string<128> message exception ::FoxgloveStudio::e_OPENCV_ERROR short code string<128> message exception ::FoxgloveStudio::e_OUT_OF_MEM short code string<128> message

Publish to foxglove studio.

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