CIMUXSens.h

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/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
   |                                                                           |
   |                       http://www.mrpt.org/                                |
   |                                                                           |
   |   Copyright (C) 2005-2012  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 CIMUXSens_H
#define CIMUXSens_H


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

#include <mrpt/poses/CPose3D.h>

namespace mrpt
{
        namespace hwdrivers
        {

                /** A class for interfacing Inertial Measuring Units (IMUs) of the type "XSens MTi"
                  *  It uses a serial port connection to the device. The class implements the generic
                  *  See also the application "rawlog-grabber" for a ready-to-use application to gather data from the scanner.
                  *
                  *  \code
                  *  PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
                  * -------------------------------------------------------
                  *   [supplied_section_name]
                  *    pose_x=0     ; Sensor 3D position relative to the robot (meters)
                  *    pose_y=0
                  *    pose_z=0
                  *    pose_yaw=0       ; Angles in degrees
                  *    pose_pitch=0
                  *    pose_roll=0
                  *        sensorLabel = <label> ; Label of the sensor
                  *        COM_port_LIN = /dev/ttyUSB0       ; COM PORT in LINUX (optional. If not provided, the system will search the connected port)
                  *        COM_port_WIN = COM1               ; COM PORT in Windows (optional. If not provided, the system will search the connected port)
                  *        baudRate                              ; Baudrate for communicating with the COM port (mandatory for Linux)
                  *                                                                 (for Windows, if COM_port_WIN is not provided, this value is ignored)
                  *  \endcode
                  * \ingroup mrpt_hwdrivers_grp
                  */
                class HWDRIVERS_IMPEXP CIMUXSens : public hwdrivers::CGenericSensor
                {
                        DEFINE_GENERIC_SENSOR(CIMUXSens)
                protected:

                        /** This serial port will be attempted to be opened automatically when this class is first used to request data from the device.
                          * \sa hwdrivers::CSerialPort
                          */
                        int                                                     m_COMbauds;
                        std::string                                     m_com_port;
                        uint64_t                                        m_timeStartUI;
                        mrpt::system::TTimeStamp        m_timeStartTT;

                        mrpt::poses::CPose3D            m_sensorPose;

                        /** Search the port where the sensor is located and connect to it
                          */
                        bool                    searchPortAndConnect();

                        //CSerialPort           m_serial_port;                  //!< The serial port connection

                        void * /*xsens::Cmt3 */         m_cmt3_ptr;
                        void * /*CmtDeviceId */         m_deviceId_ptr;
                        unsigned int                            m_toutCounter;                          //!< Timeout counter (for internal use only)

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

                public:
                        /** Constructor
                          */
                        CIMUXSens( );

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


                        /** 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.
                          */
                        void doProcess();

                        /** Turns on the xSens device and configure it for getting orientation data */
                        void initialize();

                }; // end of class

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

#endif