CGenericSensor.h

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/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
   |                                                                           |
   |                       http://www.mrpt.org/                                |
   |                                                                           |
   |   Copyright (C) 2005-2011  University of Malaga                           |
   |                                                                           |
   |    This software was written by the Machine Perception and Intelligent    |
   |      Robotics Lab, University of Malaga (Spain).                          |
   |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
   |                                                                           |
   |  This file is part of the MRPT project.                                   |
   |                                                                           |
   |     MRPT is free software: you can redistribute it and/or modify          |
   |     it under the terms of the GNU General Public License as published by  |
   |     the Free Software Foundation, either version 3 of the License, or     |
   |     (at your option) any later version.                                   |
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   |   MRPT is distributed in the hope that it will be useful,                 |
   |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
   |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
   |     GNU General Public License for more details.                          |
   |                                                                           |
   |     You should have received a copy of the GNU General Public License     |
   |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
   |                                                                           |
   +---------------------------------------------------------------------------+ */

#ifndef CGenericSensor_H
#define CGenericSensor_H

#include <mrpt/utils/CConfigFileBase.h>
#include <mrpt/slam/CObservation.h>
#include <mrpt/synch.h>
#include <mrpt/system/threads.h>

#include <mrpt/hwdrivers/link_pragmas.h>


namespace mrpt
{
        /**   Contains classes for various device interfaces.
         * \ingroup mrpt_hwdrivers_grp
         */
        namespace hwdrivers
        {
                class HWDRIVERS_IMPEXP CGenericSensor;

                /** A structure for runtime ID class type information in the context of hwdrivers::CGenericSensor.
                  */
                struct HWDRIVERS_IMPEXP TSensorClassId
                {
                        const char*                     className;                                              //!< Class name
                        CGenericSensor*         (*ptrCreateObject)();                   //!< Pointer to class constructor
                };

                typedef stlplus::smart_ptr<CGenericSensor>      CGenericSensorPtr;

                /** A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabber.
                  *  Derived classes should be designed with the following execution flow in mind:
                  *             - Object constructor
                  *             - CGenericSensor::loadConfig: The following parameters are common to all sensors in rawlog-grabber (they are automatically loaded by rawlog-grabber) - see each class documentation for additional parameters:
                  *                     - "process_rate": (Mandatory) The rate in Hertz (Hz) at which the sensor thread should invoke "doProcess".
                  *                     - "max_queue_len": (Optional) The maximum number of objects in the observations queue (default is 200). If overflow occurs, an error message will be issued at run-time.
                  *                     - "grab_decimation": (Optional) Grab only 1 out of N observations captured by the sensor (default is 1, i.e. do not decimate).
                  *             - CGenericSensor::initialize
                  *             - CGenericSensor::doProcess
                  *             - CGenericSensor::getObservations
                  *
                  *  Notice that there are helper methods for managing the internal list of objects (see CGenericSensor::appendObservation).
                  *
                  *  <b>Class Factory:</b> This is also a factory of derived classes, through the static method CGenericSensor::createSensor
                  *
                  *
                  *  For more details on RawLogGrabber refer to the wiki page:
                  *    http://www.mrpt.org/Application:RawLogGrabber
                  * \ingroup mrpt_hwdrivers_grp
                  */
                class HWDRIVERS_IMPEXP CGenericSensor: public mrpt::utils::CUncopiable
                {
                public:
                        virtual const mrpt::hwdrivers::TSensorClassId* GetRuntimeClass() const = 0;

                        typedef std::multimap< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > TListObservations;
                        typedef std::pair< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > TListObsPair;

                        /** The current state of the sensor
                          * \sa CGenericSensor::getState
                          */
                        enum TSensorState
                        {
                                ssInitializing = 0,
                                ssWorking,
                                ssError
                        };

                        /** The current state of the sensor  */
                        inline TSensorState getState() const { return m_state; }

                        inline double getProcessRate() const { return m_process_rate; }

                        inline std::string getSensorLabel() const { return m_sensorLabel; }
                        inline void setSensorLabel(const std::string& sensorLabel) { m_sensorLabel=sensorLabel; }

                        /** Register a class into the internal list of "CGenericSensor" descendents.
                          *  Used internally in the macros DEFINE_GENERIC_SENSOR, etc...
                          *
                          *  Can be used as "CGenericSensor::registerClass( SENSOR_CLASS_ID(CMySensor) );" if
                          *    building custom sensors outside mrpt libraries in user code.
                          */
                        static void registerClass(const TSensorClassId* pNewClass);

                private:
                        synch::CCriticalSection                 m_csObjList;            //!< The critical section for m_objList
                        TListObservations                               m_objList;              //!< The queue of objects to be returned by getObservations

                        /** Used in registerClass */
                        static std::map< std::string , const TSensorClassId *>  m_knownClasses;


                protected:
                        /** @name Common settings to any sensor, loaded in "loadConfig"
                            @{ */

                        double  m_process_rate;  //!< See CGenericSensor
                        size_t  m_max_queue_len; //!< See CGenericSensor
                        size_t  m_grab_decimation;      //!< If set to N>=2, only 1 out of N observations will be saved to m_objList.
                        std::string  m_sensorLabel; //!< See CGenericSensor

                        /** @} */

                        size_t  m_grab_decimation_counter; //!< Used when "m_grab_decimation" is enabled

                        TSensorState    m_state;

                        // === Data for off-rawlog file external image directory ====
                        //  Only used by a few sensor classes.
                        std::string                     m_path_for_external_images; //!< The path where to save off-rawlog images: empty means save images embedded in the rawlog.
                        std::string                     m_external_images_format; //!< The extension ("jpg","gif","png",...) that determines the format of images saved externally \sa setPathForExternalImages
                        unsigned int            m_external_images_jpeg_quality; //!< For JPEG images, the quality (default=95%).
                        // ======================================

                        /** This method must be called by derived classes to enqueue a new observation in the list to be returned by getObservations.
                          *  Passed objects must be created in dynamic memory and a smart pointer passed. Example of creation:
                          \code
                                CObservationGPSPtr  o = CObservationGPSPtr( new CObservationGPS() );
                                o-> .... // Set data
                                appendObservation(o);
                          \endcode
                          * If several observations are passed at once in the vector, they'll be considered as a block regarding the grabbing decimation factor.
                          */
                        void appendObservations( const std::vector<mrpt::utils::CSerializablePtr> &obj);

                        //! Like appendObservations() but for just one observation.
                        void appendObservation( const mrpt::utils::CSerializablePtr &obj)
                        {
                                appendObservations(std::vector<mrpt::utils::CSerializablePtr>(1, obj));
                        }

                        /** Auxiliary structure used for CSerializable runtime class ID support.
                          */
                        struct CLASSINIT_GENERIC_SENSOR
                        {
                                CLASSINIT_GENERIC_SENSOR(const TSensorClassId* pNewClass)
                                {
                                        CGenericSensor::registerClass(pNewClass);
                                }
                        };

                        /** 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)
                          *  \exception This method must throw an exception with a descriptive message if some critical parameter is missing or has an invalid value.
                          */
                        virtual void  loadConfig_sensorSpecific(
                                const mrpt::utils::CConfigFileBase &configSource,
                                const std::string                       &section ) = 0;

                public:
                        /** Creates a sensor by a name of the class.
                          *  Typically the user may want to create a smart pointer around the returned pointer, whis is made with:
                          *  \code
                          *   CGenericSensorPtr sensor = CGenericSensorPtr( CGenericSensor::createSensor("XXX") );
                          *  \endcode
                          * \return A pointer to a new class, or NULL if class name is unknown.
                          */
                        static CGenericSensor* createSensor(const std::string &className);

                        /** Just like createSensor, but returning a smart pointer to the newly created sensor object. */
                        static inline CGenericSensorPtr createSensorPtr(const std::string &className)
                        {
                                return CGenericSensorPtr(createSensor(className));
                        }

                        /** Constructor */
                        CGenericSensor( );

                        /** Destructor */
                        virtual ~CGenericSensor();

                        /** Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific"
                          *  \exception This method throws an exception with a descriptive message if some critical parameter is missing or has an invalid value.
                          */
                        void  loadConfig(
                                const mrpt::utils::CConfigFileBase &configSource,
                                const std::string                       &section );

                        /** This method can or cannot be implemented in the derived class, depending on the need for it.
                          *  \exception This method must throw an exception with a descriptive message if some critical error is found.
                          */
                        virtual void initialize()
                        {  }    // Default method does nothing.

                        /** This method will be invoked at a minimum rate of "process_rate" (Hz)
                          *  \exception This method must throw an exception with a descriptive message if some critical error is found.
                          */
                        virtual void doProcess() = 0;

                        /** Returns a list of enqueued objects, emptying it (thread-safe). The objects must be freed by the invoker.
                          */
                        void getObservations( TListObservations         &lstObjects );

                        /**  Set the path where to save off-rawlog image files (will be ignored in those sensors where this is not applicable).
                          *  An  empty string (the default value at construction) means to save images embedded in the rawlog, instead of on separate files.
                          * \exception std::exception If the directory doesn't exists and cannot be created.
                          */
                        virtual void setPathForExternalImages( const std::string &directory ) {
                                // In this base class, the default is to ignore image paths.
                        }

                        /**  Set the extension ("jpg","gif","png",...) that determines the format of images saved externally
                          *   The default is "jpg".
                          * \sa setPathForExternalImages, setExternalImageJPEGQuality
                          */
                        void setExternalImageFormat( const std::string &ext ) {
                                m_external_images_format = ext;
                        }

                        /** The quality of JPEG compression, when external images is enabled and the format is "jpg". \sa setExternalImageFormat */
                        void setExternalImageJPEGQuality(const unsigned int quality) {
                                m_external_images_jpeg_quality = quality;
                        }
                        unsigned int getExternalImageJPEGQuality()const  {
                                return m_external_images_jpeg_quality;
                        }

                }; // end of class


                #define SENSOR_CLASS_ID(class_name) \
                        static_cast<const mrpt::hwdrivers::TSensorClassId*>(& mrpt::hwdrivers::class_name::class##class_name)

                #define SENSOR_IS_CLASS( ptrObj, class_name )  (ptrObj->GetRuntimeClass()==SENSOR_CLASS_ID(class_name))


                /** This declaration must be inserted in all CGenericSensor classes definition, within the class declaration.
                  */
                #define DEFINE_GENERIC_SENSOR(class_name) \
                protected: \
                        static mrpt::hwdrivers::CGenericSensor::CLASSINIT_GENERIC_SENSOR _init_##class_name;\
                public: \
                        static  mrpt::hwdrivers::TSensorClassId class##class_name; \
                        virtual const mrpt::hwdrivers::TSensorClassId* GetRuntimeClass() const; \
                        static  mrpt::hwdrivers::CGenericSensor* CreateObject(); \
                        static void doRegister() \
                        {       CGenericSensor::registerClass( SENSOR_CLASS_ID( class_name ) ); }

                /** This must be inserted in all CGenericSensor classes implementation files:
                  */
                #define IMPLEMENTS_GENERIC_SENSOR(class_name, NameSpace) \
                        mrpt::hwdrivers::CGenericSensor* NameSpace::class_name::CreateObject() \
                                { return static_cast<hwdrivers::CGenericSensor*>( new NameSpace::class_name ); } \
                        mrpt::hwdrivers::TSensorClassId NameSpace::class_name::class##class_name = { \
                                #class_name, NameSpace::class_name::CreateObject }; \
                        const mrpt::hwdrivers::TSensorClassId* NameSpace::class_name::GetRuntimeClass() const \
                                { return SENSOR_CLASS_ID(class_name); }


        } // end of namespace
} // end of namespace

#endif