CRoboticHeadInterface.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 CRoboticHeadInterface_H
#define CRoboticHeadInterface_H

#include <mrpt/hwdrivers/CInterfaceFTDI.h>
#include <mrpt/hwdrivers/CInterfaceFTDIMessages.h>
#include <mrpt/utils/CMessage.h>
#include <mrpt/synch.h>
#include <mrpt/math/CMatrixTemplate.h>
#include <mrpt/utils/CDebugOutputCapable.h>
#include <mrpt/utils/CConfigFileBase.h>
#include <mrpt/slam/CObservationRange.h>


namespace mrpt
{
        namespace hwdrivers
        {
                using namespace mrpt::math;

                /**   This "software driver" implements the communication protocol for interfacing a Robotic Head Board through a custom
                  *   USB RS-422 interface board.
                  *   In this class the "bind" is ignored since it is designed for USB connections only, thus it internally generate the required object for simplicity of use.
                  *   The default serial number is "OREJA001"
                  *
                  * Warning: Avoid defining an object of this class in a global scope if you want to catch all potential
                  *      exceptions during the constructors (like USB interface DLL not found, etc...)
                  *
                  *  \code
                  *  PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
                  * -------------------------------------------------------
                  *   [supplied_section_name]
                  *   HEAD_serialNumber=OREJA001
                  *   HEAD_gain=127,127,127
                  *   HEAD_yaw=0                //orientación inicial
                  *   HEAD_pitch=0              //elevación inicial
                  *  \endcode
                  * \ingroup mrpt_hwdrivers_grp
                  */
                class HWDRIVERS_IMPEXP CRoboticHeadInterface : public mrpt::utils::CDebugOutputCapable
                {
                        private:
                                CInterfaceFTDIMessages  m_usbConnection;
                                utils::CMessage         msg;
                                std::string                             m_serialNumber;
                                std::vector<int32_t>    gain;
                                int                                             head_yaw, head_pitch;

                                bool            checkControllerIsConnected();

                        protected:
                                /** 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::CSonarSRF10 for the possible parameters
                                  */
                                void  loadConfig_sensorSpecific(        const mrpt::utils::CConfigFileBase *configSource,
                                                                        const std::string         &iniSection );

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

                                /** Destructor
                                  */
                                ~CRoboticHeadInterface(){}

                                /** Changes the serial number of the device to open
                                  */
                                void  setDeviceSerialNumber(const std::string &deviceSerialNumber)
                                {
                                        m_serialNumber = deviceSerialNumber;
                                }

                                /** Read the gain for the amplifier of the ear "channel", where channel is 0, 1 or 2.
                                  */
                                void GetGain(int &_gain,int &channel);

                                /** Set the gain for the amplifier each ear. The value range is [0x00(min) .. 0x7F(max)]. The value 0x80 set the resistor
                                  * in high impedance state, ¡¡¡DON'T USE IT!!!
                                  */
                                bool SetGain(int &new_gain,int &channel);

                                /** This function return the angle where last sound where detected. This angle is related to the robot pose, NOT head pose.
                                  * \code
                                  * angle > 0deg --> Sound detected in the left
                                  * angle = 0deg --> Sound detected in front of the head
                                  * angle < 0deg --> Sound detected in the right
                                  * \endcode
                                  */
                                void GetSoundLocation(int &ang);

                                /** Debug only!!! This function return the last 500 acquired samples for each sound channel.
                                  *
                                  */
                                void Get3SoundBuffer(CMatrixTemplate<int>       &buf);

                                /** Move the head in:
                                  * \code
                                  * elevation = 'yaw' degrees
                                  * orientation = 'pitch' degrees
                                  * \endcode
                                  */
                                void SetHeadPose(int &yaw, int &pitch);

                                //TO DO --> Funciones del acelerómetro
                                //                      Movimientos faciales

                };      // End of class

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

#endif