CPhidgetInterfaceKitProximitySensors.h

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/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
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   |                       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.                                   |
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   |     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.                          |
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   |     You should have received a copy of the GNU General Public License     |
   |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
   |                                                                           |
   +---------------------------------------------------------------------------+ */

#ifndef CPhidgetInterfaceKitProximitySensors_H
#define CPhidgetInterfaceKitProximitySensors_H

#include <mrpt/slam/CObservationRange.h>
#include <mrpt/poses/CPoint3D.h>
#include <mrpt/utils/CDebugOutputCapable.h>
#include <mrpt/hwdrivers/CGenericSensor.h>

namespace mrpt
{
        namespace hwdrivers
        {
                /** \brief : An interface for the phidget Interface kit board (1018).
                 *  \class CPhidgetInterfaceKitProximitySensors
                 *  \author Adrien BARRAL - Robopec (aba@robopec.com).
                 *
                 * An interface for the Phidgets Interface kit board (part number 1018) on wich it could be plugged either an Sharp IR adaptater board
             * (phidget's part number : 1101),or a MaxBotix EZ-1 sonar (phidget's part number : 1118).
                 * The configuration file describe what is plugged to this board, and the geometry of the sensors on the robots. See the exemple below.
                 * \code
                 * [PhidgetInterfaceKitProximitySensors]
                 * sensorLabel = FrontProximitySensors
                 * process_rate = 100                                           // Integer value in Hz (common to all sensors), default value is 50Hz.
                 * displayRecapitulativeInformations = true     // default value = false.
                 * serialNumber = 12345                                         // The interface kit serial number (Integer value), default value is -1.
                 * sensor1 = SHARP-30cm                                         // sharp InfraRed sensor 30cm range (string value). capital to convert raw data to range data (in meters).
                 * pose1_x = 0                                                          // position on the robot (float value in meters)
                 * pose1_y = 0
                 * pose1_z = 0.5
                 * pose1_yaw = -45.0                                            // Angles in degrees (float value).
                 * pose1_pitch = 0
                 * pose1_roll = 0
                 *  //...
                 * sensorn = EZ1                                                        // Maxbotix Ultrasound sonar
                 * posen_x = 0
                 * // ...
                 * \endcode
                 *
                 * The maximum number of sensors on this board is 8. Sensor 1 is the first sensor. If you haven't plugged any sensor on an entry of the board, you haven't to specify
                 * anyithing about this sensor in the configuration file.
                 * The following table enumerate the different sensors supported by this class.
                 * \latexonly
                 * \begin{tabular}{|c|c|c}
             *          \hline
                 *              Part Number & Config file indentifiant & IR or US
                 *              \hline
                 *              MaxBotix EZ-1 Sonar Sensor & EZ1 & US \\
                 *              GP2D12 & SHARP-30cm & IR \\
                 *              GP2Y0A21** & SHARP-80cm & IR \\
                 *              \hline
                 * \end{tabular}
                 *
                 * This isn't an event based implementation of the phidget library. That means that when an instanciation of a CPhidgetInterfaceKitProximitySensors is done, the constructor will block during
                 * in the worst case 200ms, if the board isn't found, an exception will be thrown.
                 * CObservation returned by this class is a CObservationRange. CObservationrange::minSensorDistance will be the minimum of the minimum of the sensor distances, e.g if you plug to the interface
                 * kit a GP2D12 (min range 4 cm) and a GP2Y0A21 (min range 8 cm), then CObservationrange::minSensorDistance = min(0.04,0.08) = 0.04. Respectively for the maximal range.
                 * \endlatexonly
                 * \warning{The Phidget library use udev. By default, udev require to be root to be launched, if you want to be able to run a program wich use a phidget board without be root, you must modify files in /etc/udev/rules.d .}
                  * \ingroup mrpt_hwdrivers_grp
                 */
                enum SensorType{SHARP_30cm, SHARP_80cm, EZ1, UNPLUGGED};

                class HWDRIVERS_IMPEXP CPhidgetInterfaceKitProximitySensors : public utils::CDebugOutputCapable, public CGenericSensor
                {
                        DEFINE_GENERIC_SENSOR(CPhidgetInterfaceKitProximitySensors)

                public:
                        /** Constructor
                          * \param serialNumber The board's serial number. Set -1 to choose the first available board
                          */
                        CPhidgetInterfaceKitProximitySensors();

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

                        /** This method tries to get a set of range measurements from the IR sensors.
                          * \param outThereIsObservation Will be true if an observation was sucessfully received.
                          */
                        void  getObservation(mrpt::slam::CObservationRange      &outObservation);
                        /** Initialize the sensor according to the parameters previously read in the configuration file.
                         * \exception throw an exception if the board could not be found.
                         * \exception throw an exception if the process rate can't be set on one of the board channel.
                         */
                        void initialize();

                        /** This method should be called periodically. Period depend on the process_rate in the configuration file.
                         */
                        void  doProcess();

                private:
                        /** An 8 dimension vector of boolean value wich store the presence or abscence of a sensor on the phidget interface kit board.
                          */
                        std::vector<bool>                       m_sensorIsPlugged;
                        /** The minimum range in meters, this field is automaticaly filled according to the sensor part number read in the configuration file.
                          * Size of this vector depend on the number of sensors described in the configuration file.
                          */
                        std::vector<float>                      m_minRange;

                        /** The maximum range in meters, this field is automaticaly filled according to the sensor part number read in the configuration file.
                          * Size of this vector depend on the number of sensors described in the configuration file.
                          */
                        std::vector<float>                      m_maxRange;

                        /** The sensor type.
                          */
                        std::vector<SensorType>         m_sensorType;
                        /** The poses of the 8 sensors x[m] y[m] z[m] yaw[deg] pitch[deg] roll[deg]. This field is automaticaly filled according to the sensor
                          * described in the configuration file.
                          */
                        std::vector<mrpt::math::CPose3D>        m_sensorPoses;

                        /** The board serial number read in the configuration file. -1 for any  board.
                         */
                        int m_serialNumber;
                        float m_minOfMinRanges;
                        float m_maxOfMaxRanges;

                        void* m_carteInterfaceKit; //CPhidgetInterfaceKitHandle

                        /** 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::CGPSInterface for the possible parameters
                          */
                        void  loadConfig_sensorSpecific( const mrpt::utils::CConfigFileBase &configSource,
                                                                                         const std::string        &iniSection );
                }; // end class

        } // end namespace
} // end namespace

#endif