CBoardIR.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 CBoardIR_H
#define CBoardIR_H

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

namespace mrpt
{
        namespace slam { class CObservationGPS; }

        namespace hwdrivers
        {
                /** A parser of NMEA commands, for connecting to a GPS by a serial port.
                  * This class also supports more advanced GPS equipped with RTK corrections. See the JAVAD/TopCon extra initialization parameters.
                  *
                  *  \code
                  *  PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
                  * -------------------------------------------------------
                  *   [supplied_section_name]
                  *    COM_port_WIN = COM3
                  *    COM_port_LIN = ttyS0
                  *    baudRate     = 4800   // The baudrate of the communications (typ. 4800 bauds)
                  *    pose_x       = 0      // 3D position of the sensed point relative to the robot (meters)
                  *    pose_y       = 0
                  *    pose_z       = 0
                  *    customInit   =       // See below for possible values
                  *
                  *        // The next parameters are optional and will be used only
                  *    // if customInit=="JAVAD" to enable/configure the usage of RTK corrections:
                  *    //JAVAD_rtk_src_port=/dev/ser/b
                  *    //JAVAD_rtk_src_baud=9600
                  *    //JAVAD_rtk_format=cmr
                  *
                  *  \endcode
                  *
                  * - customInit: Custom commands to send, depending on the sensor. Valid values are:
                  *             - "": Empty string
                  *             - "JAVAD": JAVAD or TopCon devices. Extra initialization commands will be sent.
                  *             - "TopCon": A synonymous with "JAVAD".
                  *
                  *  VERSIONS HISTORY:
                  *             -9/JUN/2006: First version (JLBC)
                  *             -4/JUN/2008: Added virtual methods for device-specific initialization commands.
                  *             -10/JUN/2008: Converted into CGenericSensor class (there are no inhirited classes anymore).
                  * \ingroup mrpt_hwdrivers_grp
                */
                class HWDRIVERS_IMPEXP CBoardIR : public utils::CDebugOutputCapable, public CGenericSensor
                {
                        DEFINE_GENERIC_SENSOR(CBoardIR)

                public:
                        /** Constructor
                          * \param BUFFER_LENGTH The size of the communications buffer (default value should be fine always)
                          */
                        CBoardIR( int BUFFER_LENGTH = 13 );

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

                        /** This method tries to get a set of range measurements from the IR sensors.
                          * \param outObservation The output observation
                          * \param outThereIsObservation Will be true if an observation was sucessfully received.
                          * \param hardwareError Will be true if there's some important error, e.g. serial port can't be open.
                          */
                        void  getObservation(
                                bool                                                    &outThereIsObservation,
                                mrpt::slam::CObservationRange   &outObservation,
                                bool                                                    &hardwareError );

                        /** 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.
                        *  This method processes data from the GPS and update the object state accordingly.
                        */
                        void  doProcess();

                        void  setSerialPortName(const std::string &COM_port);   //!< Set the serial port to use (COM1, ttyUSB0, etc).
                        std::string getSerialPortName() const;                                  //!< Get the serial port to use (COM1, ttyUSB0, etc).

                protected:
                        bool OnConnectionEstablished();

                        CSerialPort             m_COM;

                        poses::CPoint3D m_sensorPose;

                        std::string             m_customInit;

                        /** The minimum range in meters (10cm).
                          */
                        float                   m_minRange;

                        /** The maximum range in meters (80cm).
                          */
                        float                   m_maxRange;

                        /** The poses of the IR: x[m] y[m] z[m] yaw[deg] pitch[deg] roll[deg]
                          *  Up to 6 devices, but you can put any number of devices (from 1 to 6).
                          */
                        std::map<uint16_t,mrpt::math::TPose3D>  m_IRPoses;

                        /** 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 );

                private:
                        std::string     m_COMname;
                        int                             m_COMbauds;

                        /** Returns true if the COM port is already open, or try to open it in other case.
                          * \return true if everything goes OK, or false if there are problems opening the port.
                          */
                        bool  tryToOpenTheCOM();

                }; // end class

        } // end namespace
} // end namespace

#endif