CIbeoLuxETH.h

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/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
   |                                                                           |
   |                       http://www.mrpt.org/                                |
   |                                                                           |
   |   Copyright (C) 2005-2010  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 CIbeoLuxETH_H
#define CIbeoLuxETH_H

#include <mrpt/hwdrivers/CGenericSensor.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/poses/CPoint3D.h>
#include <mrpt/slam/CObservation3DRangeScan.h>
#include <mrpt/utils/CClientTCPSocket.h>

namespace mrpt
{
    namespace hwdrivers
    {
                using namespace std;
                using namespace mrpt::hwdrivers;
                using namespace mrpt::utils;
                using namespace mrpt::slam;

        /** This "software driver" implements the communication protocol for interfacing a Ibeo Lux laser scanners through an ethernet controller.
          *   This class does not need to be bind, i.e. you do not need to call C2DRangeFinderAbstract::bindIO.
          *   Connection is established when user call the turnOn() method. You can pass to the class's constructor the Lux's ip address and port.
          *   Device will NOT be configured. Configuration has to be done seperately.
          *
          * To get a laser scan you must proceed like that :
          * \code
          *     CIbeoLuxETH laser(string("192.168.0.10"), 1234);
          *     laser.turnOn();
          *     bool isOutObs, hardwareError;
          *     CObservation2DRangeScan outObs;
          *     laser.doProcessSimple(isOutObs, outObs, hardwareError);
          * \endcode
          *
          * \note This class was contributed by Adrien Barral - Robopec (France)
          * \note And modified by Jan Girlich - University of Hamburg
          * \ingroup mrpt_hwdrivers_grp
          */
        class HWDRIVERS_IMPEXP CIbeoLuxETH : public mrpt::hwdrivers::CGenericSensor
        {
            DEFINE_GENERIC_SENSOR(CIbeoLuxETH)

            public:
                /** Constructor.
                 * Note that there is default arguments, here you can customize IP Adress and TCP Port of your device.
                 */
                CIbeoLuxETH(string _ip=string("10.152.36.93"), unsigned int _port=12002);
                /** Destructor.
                 * Close communcation with the device, and free memory.
                 */
                virtual ~CIbeoLuxETH();
                /** This function acquire a laser scan from the device. If an error occured, hardwareError will be set to true.
                 * The new laser scan will be stored in the outObservation argument.
                 *
                 * \exception This method throw exception if the frame received from the LMS 100 contain the following bad parameters :
                 *  * Status is not OK
                 *  * Data in the scan aren't DIST1 (may be RSSIx or DIST2).
                 */
                void doProcess();
                void initialize();
                                void start();
                                void makeCommandHeader(unsigned char* buffer);
                                void makeStartCommand(unsigned char* buffer);
                                void makeStopCommand(unsigned char* buffer);
                                void makeTypeCommand(unsigned char* buffer);

        private :
            string                  m_ip;
            unsigned int            m_port;
            CClientTCPSocket        m_client;
            unsigned int            m_scanFrequency;    // in hertz
            double                  m_angleResolution;  // in degrees
            double                  m_startAngle;       // degrees
            double                  m_stopAngle;        // degrees
            CPose3D                 m_sensorPose;
            double                  m_maxRange;
            double                  m_beamApperture;
                        bool                                    m_run;
                        void                                    dataCollection();
                        mrpt::system::TThreadHandle     dataCollectionThread;
                        float                                   convertLayerToRad(int scanlayer);
                        float                                   convertTicksToHRad(int hticks, int hticksPerRotation);
                        CPoint3D                                convertToCartesian(float vrad, float hrad, float distance);
                        float                                   vwinkel;
                        vector<CObservation3DRangeScan> m_observations;
                        bool                                    m_newObs;
                        float                                   m_vAngle;
                        unsigned int                    lastScanNumber;
                        unsigned int                    curScanNumber;

                protected:
            /** Load sensor pose on the robot, or keep the default sensor pose.
             */
            void  loadConfig_sensorSpecific(const mrpt::utils::CConfigFileBase &configSource,
                             const std::string    &iniSection );

        };
    }
}

#endif