CRaePID.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  CRaePID_H
#define  CRaePID_H

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

namespace mrpt
{
        namespace hwdrivers
        {
                /** This class implements a driver for the RAE Systems gas PhotoIonization Detector (PID) (Tested on a MiniRAE Lite)
                  *   The sensor is accessed via a standard (or USB) serial port.
                  *
                  *   Refer to the manufacturer website for details on this sensor: http://www.raesystems.com/products/minirae-lite
                  *
                  *  \sa mrpt::slam::CObservationGasSensors
                  * \ingroup mrpt_hwdrivers_grp
                  */
                class HWDRIVERS_IMPEXP CRaePID : public mrpt::hwdrivers::CGenericSensor
                {
                                DEFINE_GENERIC_SENSOR(CRaePID)

                private:
                        /** COM port name
                         */
                        std::string com_port;

                        /** COM port
                         */
                        CSerialPort COM;

                        /** Poses
                         */
                        float pose_x, pose_y, pose_z, pose_yaw, pose_pitch, pose_roll;

                public:
                        /** Default constructor.
                         */
                        CRaePID();
                        virtual ~CRaePID(){COM.close();};


                         void doProcess();
                         void  loadConfig_sensorSpecific(
                                 const mrpt::utils::CConfigFileBase &configSource,
                                const std::string                       &section);

                         /** Get firmware version string.
                          */
                         std::string getFirmware();

                         /** Get model string.
                          */
                         std::string getModel();

                         /** Get serial number as a string.
                          */
                         std::string getSerialNumber();

                         /** Get name string.
                          */
                         std::string getName();

                         /** Switch power on or off (returns true if turned on).
                          */
                         bool switchPower();

                         /** Get full reading (see PID documentation). In the returned observation, each reding is saved as a separate e-nose
                          */
                         CObservationGasSensors getFullInfo();

                         /** Get error status (true if an error was found). errorString shows the error code (see PID documentation)
                          */
                         bool errorStatus(std::string &errorString);

                         /** Get alarm limits
                          */
                         void getLimits(float &min, float &max);


                }; // End of class def.

        } // End of namespace
} // End of namespace
#endif