CBoardENoses.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.                                   |
   |                                                                           |
   |   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 CBoardENoses_H
#define CBoardENoses_H

#include <mrpt/hwdrivers/CInterfaceFTDI.h>
#include <mrpt/hwdrivers/CSerialPort.h>
#include <mrpt/hwdrivers/CGenericSensor.h>

#include <mrpt/slam/CObservationGasSensors.h>
#include <mrpt/utils/CConfigFileBase.h>


namespace mrpt
{
        namespace hwdrivers
        {
                /** A class for interfacing an e-Noses via a FTDI USB link.
                  *  Implemented for the board v1.0 designed by 2007 @ ISA (University of Malaga).
                  *
                  *  \code
                  *  PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
                  * -------------------------------------------------------
                  *   [supplied_section_name]
                  *    USB_serialname=ENOSE001   // USB FTDI pipe: will open only if COM_port_* are not set or empty
                  *
                  *    COM_port_WIN = COM1       // Serial port to connect to.
                  *    COM_port_LIN = ttyS0
                  *
                  *    COM_baudRate = 115200
                  *
                  *    ; 3D position (in meters) of the master +slave eNoses
                  *    enose_poses_x=<MASTER X> <SLAVE#1 X> <SLAVE#2 X> <SLAVE#3 X>...
                  *    enose_poses_y=<MASTER Y> <SLAVE#1 Y> <SLAVE#2 Y> <SLAVE#3 Y>...
                  *    enose_poses_z=<MASTER Z> <SLAVE#1 Z> <SLAVE#2 Z> <SLAVE#3 Z>...
                  *
                  *    ; 3D pose angles (in degrees) of the master +slave eNoses
                  *    enose_poses_yaw=<MASTER YAW> <SLAVE#1 YAW> <SLAVE#2 YAW> <SLAVE#3 YAW>...
                  *    enose_poses_pitch=<MASTER PITCH> <SLAVE#1 PITCH> <SLAVE#2 PITCH> <SLAVE#3 PITCH>...
                  *    enose_poses_roll=<MASTER ROLL> <SLAVE#1 ROLL> <SLAVE#2 ROLL> <SLAVE#3 ROLL>...
                  *
                  *  \endcode
                  *
                  * \ingroup mrpt_hwdrivers_grp
                  */
                class HWDRIVERS_IMPEXP CBoardENoses : public mrpt::hwdrivers::CGenericSensor
                {
                        DEFINE_GENERIC_SENSOR(CBoardENoses)

                protected:
                        /** A copy of the device serial number (to open the USB FTDI chip)
                          */
                        std::string             m_usbSerialNumber;
                        mrpt::system::TTimeStamp initial_timestamp;
                        bool first_reading;

                        std::string             m_COM_port;  //!< If not an empty string (default), will open that serial port, otherwise will try to open USB FTDI device "m_usbSerialNumber"
                        unsigned int    m_COM_baud;      //!< Default=115200


                        // Only one of these two streams will be !=NULL and open for each specific eNose board!
                        /**  FTDI comms pipe (when not in serial port mode) */
                        CInterfaceFTDI  *m_stream_FTDI;
                        /**  Serial port comms */
                        CSerialPort             *m_stream_SERIAL;

                        /** The 3D pose of the master + N slave eNoses on the robot (meters & radians) */
                        std::vector<float>      enose_poses_x,enose_poses_y,enose_poses_z,enose_poses_yaw,enose_poses_pitch,enose_poses_roll;

                        /** Tries to connect to the USB device (if disconnected).
                          * \return NULL on error, otherwise a stream to be used for comms.
                          */
                        mrpt::utils::CStream*   checkConnectionAndConnect();

                        /** 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::CBoardENoses for the possible parameters
                          */
                        void  loadConfig_sensorSpecific(
                                const mrpt::utils::CConfigFileBase &configSource,
                                const std::string                       &section );

                public:
                        /** Constructor
                          * \param serialNumberUSBdevice The serial number (text) of the device to open.
                          *  The constructor will try to open the device. You can check if it failed calling "isOpen()".
                          */
                        CBoardENoses( );

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

                        /** Set the active chamber (afected by poluted air) on the device
                          * \return true on success, false on communications errors or device not found.
                          */
                        bool    setActiveChamber( unsigned char chamber );

                        /** Query the firmware version on the device (can be used to test communications).
                          * \return true on success, false on communications errors or device not found.
                          */
                        bool    queryFirmwareVersion( std::string &out_firmwareVersion );

                        /** Request the master eNose the latest readings from all the eNoses.
                          *  The output observation contains a valid timestamp and 3D positions if "loadConfig" has been called previously.
                          * \return true if OK, false if there were any error.
                          */
                        bool getObservation( mrpt::slam::CObservationGasSensors &outObservation );


                        /** This method should be called periodically (at least at 1Hz to capture ALL the real-time data)
                        *  It is thread safe, i.e. you can call this from one thread, then to other methods from other threads.
                        */
                        void  doProcess();

                        /** Tries to open the camera, after setting all the parameters with a call to loadConfig.
                          *  \exception This method must throw an exception with a descriptive message if some critical error is found.
                          */
                        virtual void initialize();



                        /** If not an empty string, will open that serial port, otherwise will try to open USB FTDI device "m_usbSerialNumber"
                          *  The default is an empty string. Example strings: "COM1", "ttyUSB0", ...
                          */
                        inline void setSerialPort(const std::string &port) { m_COM_port = port; }
                        inline std::string getSerialPort() const { return m_COM_port; }

                        /** Set the serial port baud rate (default: 115200) */
                        inline void setSerialPortBaud(unsigned int baud) { m_COM_baud=baud; }
                        inline unsigned int getSerialPortBaud() const { return m_COM_baud; }


                }; // end of class
        } // end of namespace
} // end of namespace


#endif