CHokuyoURG.cpp

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */

#include "hwdrivers-precomp.h"   // Precompiled headers

#include <mrpt/hwdrivers/CHokuyoURG.h>
#include <mrpt/hwdrivers/CSerialPort.h>
#include <mrpt/utils/CClientTCPSocket.h>
#include <mrpt/system/os.h>
#include <mrpt/opengl/CPlanarLaserScan.h> // in library mrpt-maps
#include <mrpt/opengl/CAxis.h>

IMPLEMENTS_GENERIC_SENSOR(CHokuyoURG,mrpt::hwdrivers)

using namespace mrpt::utils;
using namespace mrpt::obs;
using namespace mrpt::hwdrivers;
using namespace mrpt::system;
using namespace mrpt::opengl;
using namespace std;

const int MINIMUM_PACKETS_TO_SET_TIMESTAMP_REFERENCE = 10;

/*-------------------------------------------------------------
                                                Constructor
-------------------------------------------------------------*/
CHokuyoURG::CHokuyoURG() :
        m_firstRange(44),
        m_lastRange(725),
        m_motorSpeed_rpm(0),
        m_sensorPose(0,0,0),
        m_rx_buffer(40000),
        m_highSensMode(false),
        m_reduced_fov(0),
        m_com_port(""),
        m_ip_dir(""),
        m_port_dir(10940),
        m_I_am_owner_serial_port(false),
        m_timeStartUI( 0 ),
        m_timeStartSynchDelay(0),
        m_disable_firmware_timestamp(false),
        m_intensity(false)
{
        m_sensorLabel = "Hokuyo";
}

/*-------------------------------------------------------------
                                        ~CHokuyoURG
-------------------------------------------------------------*/
CHokuyoURG::~CHokuyoURG()
{
        if (m_stream)
        {
                turnOff();

                if (m_I_am_owner_serial_port)
                        delete m_stream;
                m_stream = NULL;
        }

        // FAMD
    m_win.clear(); // clear window
}

/*-------------------------------------------------------------
                                                doProcessSimple
-------------------------------------------------------------*/
void  CHokuyoURG::doProcessSimple(
        bool                                                    &outThereIsObservation,
        mrpt::obs::CObservation2DRangeScan      &outObservation,
        bool                                                    &hardwareError )
{
        outThereIsObservation   = false;
        hardwareError                   = false;

        // Bound?
        if (!checkCOMisOpen())
        {
                m_timeStartUI = 0;
                m_timeStartSynchDelay = 0;
                hardwareError = true;
                return;
        }

        // Wait for a message:
        char                    rcv_status0,rcv_status1;
        vector_byte             rcv_data(10000);
        int                             rcv_dataLength;
        int                             nRanges = m_lastRange-m_firstRange+1;
        int                             expectedSize = nRanges*3 + 4;

        if(m_intensity)
        {
                expectedSize += nRanges*3;
        }

        m_state = ssWorking;
        if (!receiveResponse( m_lastSentMeasCmd.c_str(), rcv_status0,rcv_status1, (char*)&rcv_data[0], rcv_dataLength ) )
        {
                // No new data
                return ;
        }

        // DECODE:
        if (rcv_status0!='0' && rcv_status0!='9')
        {
                hardwareError = true;
                return;
        }

        // -----------------------------------------------
        //   Extract the observation:
        // -----------------------------------------------
        outObservation.timestamp = mrpt::system::now();

        if ( expectedSize!=rcv_dataLength )
        {
                MRPT_LOG_DEBUG_FMT("[CHokuyoURG::doProcess] ERROR: Expecting %u data bytes, received %u instead!\n",expectedSize,rcv_dataLength);
                hardwareError = true;
                return;
        }
        // Delay the sync of timestamps due to instability in the constant rate during the first few packets.
        bool do_timestamp_sync = !m_disable_firmware_timestamp;
        if (do_timestamp_sync && m_timeStartSynchDelay<MINIMUM_PACKETS_TO_SET_TIMESTAMP_REFERENCE)
        {
                do_timestamp_sync=false;
                m_timeStartSynchDelay++;
        }

        if (do_timestamp_sync)
        {
                // Extract the timestamp of the sensor:
                uint32_t nowUI  =
                        ((rcv_data[0]-0x30) << 18) +
                        ((rcv_data[1]-0x30) << 12) +
                        ((rcv_data[2]-0x30) << 6) +
                        (rcv_data[3]-0x30);

                uint32_t AtUI = 0;
                if( m_timeStartUI == 0 )
                {
                        m_timeStartUI = nowUI;
                        m_timeStartTT = mrpt::system::now();
                }
                else    AtUI    = nowUI - m_timeStartUI;

                mrpt::system::TTimeStamp AtDO   =  mrpt::system::secondsToTimestamp( AtUI * 1e-3 /* Board time is ms */ );
                outObservation.timestamp = m_timeStartTT + AtDO;
        }

        // And the scan ranges:
        outObservation.rightToLeft = true;

        outObservation.aperture = nRanges *2*M_PI/m_sensor_info.scans_per_360deg;

        outObservation.maxRange = m_sensor_info.d_max;
        outObservation.stdError = 0.010f;
        outObservation.sensorPose = m_sensorPose;
        outObservation.sensorLabel = m_sensorLabel;

        outObservation.resizeScan(nRanges);
        char            *ptr = (char*) &rcv_data[4];

        if(m_intensity)
                outObservation.setScanHasIntensity(true);

        for (int i=0;i<nRanges;i++)
        {
                int b1 = (*ptr++)-0x30;
                int b2 = (*ptr++)-0x30;
                int b3 = (*ptr++)-0x30;

                int range_mm = ( (b1 << 12) | (b2 << 6) | b3);

                outObservation.setScanRange(i, range_mm * 0.001f );
                outObservation.setScanRangeValidity(i, range_mm>=20 &&  (outObservation.scan[i] <= outObservation.maxRange) );

                if(m_intensity)
                {
                        int b4 = (*ptr++)-0x30;
                        int b5 = (*ptr++)-0x30;
                        int b6 = (*ptr++)-0x30;
                        outObservation.setScanIntensity(i, ( (b4 << 12) | (b5 << 6) | b6) );
                }
        }

        // Do filter:
        C2DRangeFinderAbstract::filterByExclusionAreas( outObservation );
        C2DRangeFinderAbstract::filterByExclusionAngles( outObservation );
        // Do show preview:
        C2DRangeFinderAbstract::processPreview(outObservation);

        outThereIsObservation = true;
}

/*-------------------------------------------------------------
                                                loadConfig_sensorSpecific
-------------------------------------------------------------*/
void  CHokuyoURG::loadConfig_sensorSpecific(
        const mrpt::utils::CConfigFileBase &configSource,
        const std::string         &iniSection )
{
        m_reduced_fov = DEG2RAD( configSource.read_float(iniSection,"reduced_fov",0) ),

        m_motorSpeed_rpm        = configSource.read_int(iniSection,"HOKUYO_motorSpeed_rpm",0);
        m_sensorPose.setFromValues(
                configSource.read_float(iniSection,"pose_x",0),
                configSource.read_float(iniSection,"pose_y",0),
                configSource.read_float(iniSection,"pose_z",0),
                DEG2RAD( configSource.read_float(iniSection,"pose_yaw",0) ),
                DEG2RAD( configSource.read_float(iniSection,"pose_pitch",0) ),
                DEG2RAD( configSource.read_float(iniSection,"pose_roll",0) )
                );

        m_highSensMode = configSource.read_bool(iniSection,"HOKUYO_HS_mode",m_highSensMode);

#ifdef MRPT_OS_WINDOWS
        m_com_port = configSource.read_string(iniSection, "COM_port_WIN", m_com_port);
#else
        m_com_port = configSource.read_string(iniSection, "COM_port_LIN", m_com_port);
#endif

        m_ip_dir = configSource.read_string(iniSection, "IP_DIR", m_ip_dir );
        m_port_dir = configSource.read_int(iniSection, "PORT_DIR", m_port_dir );

        ASSERTMSG_(!m_com_port.empty() || !m_ip_dir.empty(), "Either COM_port or IP_DIR must be defined in the configuration file!");
        ASSERTMSG_(m_com_port.empty() || m_ip_dir.empty(), "Both COM_port and IP_DIR set! Please, define only one of them.");
        if (!m_ip_dir.empty()) { ASSERTMSG_(m_port_dir,"A TCP/IP port number `PORT_DIR` must be specified for Ethernet connection"); }

        m_disable_firmware_timestamp = configSource.read_bool(iniSection, "disable_firmware_timestamp", m_disable_firmware_timestamp);
        m_intensity = configSource.read_bool(iniSection,"intensity",m_intensity),

        // Parent options:
        C2DRangeFinderAbstract::loadCommonParams(configSource, iniSection);
}

/*-------------------------------------------------------------
                                                turnOn
-------------------------------------------------------------*/
bool  CHokuyoURG::turnOn()
{
        MRPT_START

        // Bound?
        if (!checkCOMisOpen()) return false;

        // If we are over a serial link, set it up:
        if ( m_ip_dir.empty() )
        {
                CSerialPort* COM = dynamic_cast<CSerialPort*>(m_stream);

                if (COM!=NULL)
                {
                        // It is a COM:
                        COM->setConfig( 19200 );
                        COM->setTimeouts(100,0,200,0,0);

                        // Assure the laser is off and quiet:
                        switchLaserOff();
                        mrpt::system::sleep(10);

                        COM->purgeBuffers();
                        mrpt::system::sleep(10);

                        COM->setConfig( 115200 );
                        switchLaserOff();
                        mrpt::system::sleep(10);
                        COM->purgeBuffers();
                        mrpt::system::sleep(10);
                        COM->setConfig( 19200 );
                }

                if (COM!=NULL)
                {
                        // Set 115200 baud rate:
                        setHighBaudrate();
                        enableSCIP20();
                        COM->setConfig( 115200 );
                }
        }
        else
        {
                CClientTCPSocket* COM = dynamic_cast<CClientTCPSocket*>(m_stream);


                if ( COM!=NULL )
                {
                        // Assure the laser is off and quiet:
                        switchLaserOff();
                        mrpt::system::sleep(10);

                        purgeBuffers();
                        mrpt::system::sleep(10);

                        switchLaserOff();
                        mrpt::system::sleep(10);
                        purgeBuffers();
                }

        }

        if (!enableSCIP20()) return false;

        // Turn on the laser:
        if (!switchLaserOn()) return false;

        // Set the motor speed:
        if (m_motorSpeed_rpm)
                if (!setMotorSpeed( m_motorSpeed_rpm )) return false;

        // Set HS mode:
        setHighSensitivityMode(m_highSensMode);

        // Display sensor information:
        if (!displaySensorInfo(&m_sensor_info )) return false;

        // Set for scanning angles:
        m_firstRange = m_sensor_info.scan_first;
        m_lastRange  = m_sensor_info.scan_last;

        // Artificially reduced FOV?
        if (m_reduced_fov>0 && m_reduced_fov<2*M_PI)
        {
                int center=(m_lastRange+m_firstRange)>>1;
                const int half_range = static_cast<int>((m_sensor_info.scans_per_360deg / 360) * RAD2DEG(m_reduced_fov))>>1;
                m_firstRange = center-half_range;
                m_lastRange = center+half_range;
                cout << "[HOKUYO::turnOn] Using reduced FOV: ranges [" << m_firstRange  << "-" << m_lastRange << "] for " << RAD2DEG(m_reduced_fov) << " deg. FOV" << endl;
        }

        if (!displayVersionInfo()) {
                //return false; // It's not SO important
        }

        // Start!
        if (!startScanningMode()) return false;

        return true;

        MRPT_END
}

/*-------------------------------------------------------------
                                                turnOff
-------------------------------------------------------------*/
bool  CHokuyoURG::turnOff()
{
        // Turn off the laser:
        if (!switchLaserOff()) return false;

        return true;
}

/*-------------------------------------------------------------
                                                setHighBaudrate
-------------------------------------------------------------*/
bool  CHokuyoURG::setHighBaudrate()
{
        char                    cmd[20];
        char                    rcv_status0,rcv_status1;
        char                    rcv_data[100];
        size_t                  toWrite;
        int                             rcv_dataLength;

        if (!checkCOMisOpen()) return false;

        MRPT_LOG_DEBUG("[CHokuyoURG::setHighBaudrate] Changing baudrate to 115200...");

        // Send command:
        os::strcpy(cmd,20, "SS115200\x0A");
        toWrite = 9;

        m_stream->WriteBuffer(cmd,toWrite);

        // Receive response:
        if (!receiveResponse( cmd, rcv_status0,rcv_status1, rcv_data, rcv_dataLength ) )
        {
                std::cerr << "Error waiting for response\n";
                return false;
        }

        // DECODE:
        if (rcv_status0!='0')
        {
                std::cerr << "Error in LIDAR status: "<< (int)rcv_status0 <<"\n";
                return false;
        }

        MRPT_LOG_DEBUG("OK\n");
        return true;
}


/*-------------------------------------------------------------
                                                assureBufferHasBytes
-------------------------------------------------------------*/
bool CHokuyoURG::assureBufferHasBytes(const size_t nDesiredBytes)
{
        ASSERT_( nDesiredBytes<m_rx_buffer.capacity() );

        if (m_rx_buffer.size()>=nDesiredBytes)
        {
                return true;
        }
        else
        {
                // Try to read more bytes:
                uint8_t       buf[128];
                const size_t  to_read=std::min(m_rx_buffer.available(),sizeof(buf));

                try
                {
                        size_t nRead;

                        if ( !m_ip_dir.empty() )
                        {
                                CClientTCPSocket        *client = dynamic_cast<CClientTCPSocket*>(m_stream);
                                nRead = client->readAsync( buf, to_read, 100, 10 );
                        }
                        else
                        {
                                nRead = m_stream->ReadBuffer(buf,to_read);
                        }

                        m_rx_buffer.push_many(buf,nRead);
                }
                catch (std::exception &)
                {
                        // 0 bytes read
                }

                return (m_rx_buffer.size()>=nDesiredBytes);
        }
}

/*-------------------------------------------------------------
                                                receiveResponse
-------------------------------------------------------------*/
bool  CHokuyoURG::receiveResponse(
                const char      *sentCmd_forEchoVerification,
                char    &rcv_status0,
                char    &rcv_status1,
                char    *rcv_data,
                int             &rcv_dataLength)
{
        if (!checkCOMisOpen()) return false;

    ASSERT_(sentCmd_forEchoVerification!=NULL);

        try
        {
                // Process response:
                // ---------------------------------

                // COMMAND ECHO ---------
                int i=0;
                const int verifLen = strlen(sentCmd_forEchoVerification);

                if (verifLen)
                {
                        do
                        {
                                if (!assureBufferHasBytes( verifLen-i ))
                                        return false;

                                // If matches the echo, go on:
                                if ( m_rx_buffer.pop()==sentCmd_forEchoVerification[i] )
                                        i++;
                                else
                                        i=0;
                        } while ( i<verifLen );
                }

                //printf("VERIF.CMD OK!: %s", sentCmd_forEchoVerification);

                // Now, the status bytes:
        if (!assureBufferHasBytes( 2 ))
            return false;

                rcv_status0 = m_rx_buffer.pop();
                rcv_status1 = m_rx_buffer.pop();
        //printf("STATUS: %c%c\n", rcv_status0,rcv_status1);

        // In SCIP2.0, there is an additional sum char:
        if (rcv_status1!=0x0A)
                {
                        // Yes, it is SCIP2.0
            if (!assureBufferHasBytes( 1 )) return false;

            // Ignore this byte: sumStatus
            m_rx_buffer.pop();

            //printf("STATUS SUM: %c\n",sumStatus);
                }
                else
                {
                        // Continue, it seems a SCIP1.1 response...
                }

        // After the status bytes, there is a LF:
        if (!assureBufferHasBytes( 1 )) return false;
        char nextChar = m_rx_buffer.pop();
        if (nextChar!=0x0A)   return false;

        // -----------------------------------------------------------------------------
        // Now the data:
        // There's a problem here, we don't know in advance how many bytes to read,
        //  so rely on the serial port class implemented buffer and call many times
        //  the read method with only 1 byte each time:
        // -----------------------------------------------------------------------------
        bool lastWasLF=false;
        i=0;
        for (;;)
        {
            if (!assureBufferHasBytes(1))
            {
                return false;
            }
            rcv_data[i] = m_rx_buffer.pop();

            //printf("%c",rcv_data[i]);

            i++;    // One more byte in the buffer

            // No data?
            if (i==1 && rcv_data[0]==0x0A)
            {
                rcv_dataLength = 0;
                return true;
            }

            // Is it a LF?
            if (rcv_data[i-1]==0x0A)
            {
                if (!lastWasLF)
                {
                    // Discard SUM+LF
                    ASSERT_(i>=2);
                    i-=2;
                }
                else
                {
                    // Discard this last LF:
                    i--;

                    // Done!
                    rcv_data[i]=0;
               //     printf("RX %u:\n'%s'\n",i,rcv_data);

                    rcv_dataLength = i;
                    return true;
                }
                lastWasLF = true;
            }
            else lastWasLF = false;
        }

        }
        catch(std::exception &)
        {
                //cerr << e.what() << endl;
                return false;
        }
        catch(...)
        {

                return false;   // Serial port timeout,...
        }
}

/*-------------------------------------------------------------
                                                enableSCIP20
-------------------------------------------------------------*/
bool  CHokuyoURG::enableSCIP20()
{
        char                    cmd[20];
        char                    rcv_status0,rcv_status1;
        char                    rcv_data[100];
        size_t                  toWrite;
        int                             rcv_dataLength;

        if (!checkCOMisOpen()) return false;

        MRPT_LOG_DEBUG("[CHokuyoURG::enableSCIP20] Changing protocol to SCIP2.0...");

        // Send command:
        os::strcpy(cmd,20, "SCIP2.0\x0A");
        toWrite = 8;

        m_stream->WriteBuffer(cmd,toWrite);

        // Receive response:
        if (!receiveResponse( cmd, rcv_status0,rcv_status1, rcv_data, rcv_dataLength ) )
        {
                std::cerr << "Error waiting for response\n";
                return false;
        }


        // DECODE:
        if (rcv_status0!='0')
        {
                std::cerr << "Error in LIDAR status: "<< (int)rcv_status0 <<"\n";
                return false;
        }


        MRPT_LOG_DEBUG("OK\n");
        return true;
}

/*-------------------------------------------------------------
                                                switchLaserOn
-------------------------------------------------------------*/
bool  CHokuyoURG::switchLaserOn()
{
        char                    cmd[20];
        char                    rcv_status0,rcv_status1;
        char                    rcv_data[100];
        size_t                  toWrite;
        int                             rcv_dataLength;

        if (!checkCOMisOpen()) return false;

        MRPT_LOG_DEBUG("[CHokuyoURG::switchLaserOn] Switching laser ON...");

        // Send command:
        os::strcpy(cmd,20, "BM\x0A");
        toWrite = 3;

        m_stream->WriteBuffer(cmd,toWrite);

        // Receive response:
        if (!receiveResponse( cmd, rcv_status0,rcv_status1, rcv_data, rcv_dataLength ) )
        {
                std::cerr << "Error waiting for response\n";
                return false;
        }

        // DECODE:
        if (rcv_status0!='0')
        {
                std::cerr << "Error in LIDAR status: "<< (int)rcv_status0 <<"\n";
                return false;
        }

        MRPT_LOG_DEBUG("OK\n");

        return true;
}

/*-------------------------------------------------------------
                                                switchLaserOff
-------------------------------------------------------------*/
bool  CHokuyoURG::switchLaserOff()
{
        char                    cmd[20];
        char                    rcv_status0,rcv_status1;
        char                    rcv_data[100];
        size_t                  toWrite;
        int                             rcv_dataLength;

        if (!checkCOMisOpen()) return false;

        MRPT_LOG_DEBUG("[CHokuyoURG::switchLaserOff] Switching laser OFF...");

        // Send command:
        os::strcpy(cmd,20, "QT\x0A");
        toWrite = 3;

        m_stream->WriteBuffer(cmd,toWrite);

        // Receive response:
        if (!receiveResponse( cmd, rcv_status0,rcv_status1, rcv_data, rcv_dataLength ) )
        {
                std::cerr << "Error waiting for response\n";
                return false;
        }

        // DECODE:
        if (rcv_status0!='0')
        {
                std::cerr << "Error in LIDAR status: "<< (int)rcv_status0 <<"\n";
                return false;
        }

        MRPT_LOG_DEBUG("OK\n");
        return true;
}

/*-------------------------------------------------------------
                                                setMotorSpeed
-------------------------------------------------------------*/
bool  CHokuyoURG::setMotorSpeed(int motoSpeed_rpm)
{
        char                    cmd[20];
        char                    rcv_status0,rcv_status1;
        char                    rcv_data[100];
        size_t                  toWrite;
        int                             rcv_dataLength;

        if (!checkCOMisOpen()) return false;

        MRPT_LOG_DEBUG_FMT("[CHokuyoURG::setMotorSpeed] Setting to %i rpm...",motoSpeed_rpm);

        // Send command:
        int             motorSpeedCode = (600 - motoSpeed_rpm) / 6;
        if (motorSpeedCode<0 || motorSpeedCode>10)
        {
                printf("ERROR! Motorspeed must be in the range 540-600 rpm\n");
                return false;
        }

        os::sprintf(cmd,20, "CR%02i\x0A",motorSpeedCode);
        toWrite = 5;

        m_stream->WriteBuffer(cmd,toWrite);

        // Receive response:
        if (!receiveResponse( cmd, rcv_status0,rcv_status1, rcv_data, rcv_dataLength ) )
        {
                std::cerr << "Error waiting for response\n";
                return false;
        }

        // DECODE:
        if (rcv_status0!='0')
        {
                std::cerr << "Error in LIDAR status: "<< (int)rcv_status0 <<"\n";
                return false;
        }

        MRPT_LOG_DEBUG("OK\n");
        return true;
}

/*-------------------------------------------------------------
                                                setHighSensitivityMode
-------------------------------------------------------------*/
bool  CHokuyoURG::setHighSensitivityMode(bool enabled)
{
        char                    cmd[20];
        char                    rcv_status0,rcv_status1;
        char                    rcv_data[100];
        size_t                  toWrite;
        int                             rcv_dataLength;

        if (!checkCOMisOpen()) return false;

        MRPT_LOG_DEBUG_FMT("[CHokuyoURG::setHighSensitivityMode] Setting HS mode to: %s...", enabled ? "true":"false" );

        // Send command:
        os::sprintf(cmd,20, "HS%i\x0A",enabled ? 1:0);
        toWrite = 4;

        m_stream->WriteBuffer(cmd,toWrite);

        // Receive response:
        if (!receiveResponse( cmd, rcv_status0,rcv_status1, rcv_data, rcv_dataLength ) )
        {
                std::cerr << "Error waiting for response\n";
                return false;
        }

        // DECODE:
        if (rcv_status0!='0')
        {
                std::cerr << "Error in LIDAR status: "<< (int)rcv_status0 <<"\n";
                return false;
        }

        MRPT_LOG_DEBUG("OK\n");
        return true;
}

/*-------------------------------------------------------------
                                                setIntensityMode
-------------------------------------------------------------*/
bool  CHokuyoURG::setIntensityMode(bool enabled)
{
        m_intensity = enabled;
        return true;
}

/*-------------------------------------------------------------
                                                displayVersionInfo
-------------------------------------------------------------*/
bool  CHokuyoURG::displayVersionInfo( )
{
        char                    cmd[20];
        char                    rcv_status0,rcv_status1;
        char                    rcv_data[2000];
        size_t                  toWrite;
        int                             rcv_dataLength;

        if (!checkCOMisOpen()) return false;

        MRPT_LOG_DEBUG("[CHokuyoURG::displayVersionInfo] Asking info...");

        // Send command:
        os::sprintf(cmd,20, "VV\x0A");
        toWrite = 3;

        m_stream->WriteBuffer(cmd,toWrite);

        // Receive response:
        if (!receiveResponse( cmd, rcv_status0,rcv_status1, rcv_data, rcv_dataLength ) )
        {
                std::cerr << "Error waiting for response\n";
                return false;
        }

        // DECODE:
        if (rcv_status0!='0')
        {
                std::cerr << "Error in LIDAR status: "<< (int)rcv_status0 <<"\n";
                return false;
        }

        MRPT_LOG_DEBUG("OK\n");

        // PRINT:
        for (int i=0;i<rcv_dataLength;i++)
        {
                if (rcv_data[i]==';')
                        rcv_data[i]='\n';
        }
        rcv_data[rcv_dataLength]=0;

        MRPT_LOG_INFO_FMT(
                "\n------------- HOKUYO Scanner: Version Information ------\n"
                "%s\n"
                "-------------------------------------------------------\n\n",rcv_data);
        return true;
}

/*-------------------------------------------------------------
                                                displaySensorInfo
-------------------------------------------------------------*/
bool  CHokuyoURG::displaySensorInfo( TSensorInfo * out_data)
{
        char                    cmd[20];
        char                    rcv_status0,rcv_status1;
        char                    rcv_data[1000];
        size_t                  toWrite;
        int                             rcv_dataLength;

        if (!checkCOMisOpen()) return false;

        MRPT_LOG_DEBUG("[CHokuyoURG::displaySensorInfo] Asking for info...");

        // Send command:
        os::sprintf(cmd,20, "PP\x0A");
        toWrite = 3;

        m_stream->WriteBuffer(cmd,toWrite);

        // Receive response:
        if (!receiveResponse( cmd, rcv_status0,rcv_status1, rcv_data, rcv_dataLength ) )
        {
                std::cerr << "Error waiting for response\n";
                return false;
        }

        // DECODE:
        if (rcv_status0!='0')
        {
                std::cerr << "Error in LIDAR status: "<< (int)rcv_status0 <<"\n";
                return false;
        }

        MRPT_LOG_DEBUG("OK\n");

        // PRINT:
        for (int i=0;i<rcv_dataLength;i++)
        {
                if (rcv_data[i]==';')
                        rcv_data[i]='\n';
        }
        rcv_data[rcv_dataLength]=0;

        MRPT_LOG_INFO_FMT(
                "\n------------- HOKUYO Scanner: Product Information  ------\n"
                "%s\n"
                "-------------------------------------------------------\n\n",rcv_data);

        // Parse the data:
        if (out_data)
        {
                const char *ptr;

                if ( NULL != (ptr=strstr(rcv_data,"DMAX:")) )
                                out_data->d_max = 0.001 * atoi( ptr+5 );
                else    cerr << "[CHokuyoURG::displayVersionInfo] Parse error: didn't find DMAX" << endl;

                if ( NULL != (ptr=strstr(rcv_data,"DMIN:")) )
                                out_data->d_min= 0.001 * atoi( ptr+5 );
                else    cerr << "[CHokuyoURG::displayVersionInfo] Parse error: didn't find DMIN" << endl;

                if ( NULL != (ptr=strstr(rcv_data,"ARES:")) )
                                out_data->scans_per_360deg= atoi( ptr+5 );
                else    cerr << "[CHokuyoURG::displayVersionInfo] Parse error: didn't find ARES" << endl;

                if ( NULL != (ptr=strstr(rcv_data,"SCAN:")) )
                                out_data->motor_speed_rpm= atoi( ptr+5 );
                else    cerr << "[CHokuyoURG::displayVersionInfo] Parse error: didn't find SCAN" << endl;

                if ( NULL != (ptr=strstr(rcv_data,"AMIN:")) )
                                out_data->scan_first= atoi( ptr+5 );
                else    cerr << "[CHokuyoURG::displayVersionInfo] Parse error: didn't find AMIN" << endl;
                if ( NULL != (ptr=strstr(rcv_data,"AMAX:")) )
                                out_data->scan_last= atoi( ptr+5 );
                else    cerr << "[CHokuyoURG::displayVersionInfo] Parse error: didn't find AMAX" << endl;
                if ( NULL != (ptr=strstr(rcv_data,"AFRT:")) )
                                out_data->scan_front= atoi( ptr+5 );
                else    cerr << "[CHokuyoURG::displayVersionInfo] Parse error: didn't find AFRT" << endl;

                if ( NULL != (ptr=strstr(rcv_data,"MODL:")) )
                {
                        char aux[30];
                        memcpy( aux, ptr+5, 8 );
                        aux[8]='\0';
                        out_data->model= aux;
                }
                else    cerr << "[CHokuyoURG::displayVersionInfo] Parse error: didn't find AFRT" << endl;

        }

        return true;
}

/*-------------------------------------------------------------
                                                startScanningMode
-------------------------------------------------------------*/
bool  CHokuyoURG::startScanningMode()
{
        char                    cmd[100];
        char                    rcv_status0,rcv_status1;
        char                    rcv_data[6000];
        size_t                  toWrite;
        int                             rcv_dataLength;

        if (!checkCOMisOpen()) return false;

        MRPT_LOG_DEBUG("[CHokuyoURG::startScanningMode] Starting scanning mode...");

        // Send command:
        if(m_intensity)
                os::sprintf(cmd,50, "ME%04u%04u01000\x0A", m_firstRange,m_lastRange);
        else
                os::sprintf(cmd,50, "MD%04u%04u01000\x0A", m_firstRange,m_lastRange);
        toWrite = 16;

        m_lastSentMeasCmd = cmd;

        m_stream->WriteBuffer(cmd,toWrite);

        // Receive response:
        if (!receiveResponse( cmd, rcv_status0,rcv_status1, rcv_data, rcv_dataLength ) )
        {
                std::cerr << "Error waiting for response\n";
                return false;
        }

        // DECODE:
        if (rcv_status0!='0')
        {
                std::cerr << "Error in LIDAR status: "<< (int)rcv_status0 <<"\n";
                return false;
        }

        MRPT_LOG_DEBUG("OK\n");
        return true;
}

/*-------------------------------------------------------------
                                                checkCOMisOpen
-------------------------------------------------------------*/
bool  CHokuyoURG::checkCOMisOpen()
{
        MRPT_START

        if (m_stream)
        {
                // Socket or USB connection?
                if ( !m_ip_dir.empty() && m_port_dir )
                {
                        // Has the port been disconected (USB serial ports)??
                        CClientTCPSocket* COM = dynamic_cast<CClientTCPSocket*>(m_stream);

                        if (COM!=NULL)
                        {
                                if (COM->isConnected())
                                        return true;

                                // It has been disconnected... try to reconnect:
                                cerr << "[CHokuyoURG] Socket connection lost! trying to reconnect..." << endl;

                                try
                                {
                                        COM->connect( m_ip_dir, m_port_dir );
                                        // OK, reconfigure the laser:
                                        turnOn();
                                        return true;
                                }
                                catch (...)
                                {
                                        // Not yet..
                                        return false;
                                }
                        }
                        else
                        {
                                return true;            // Assume OK
                        }
                }
                else
                {
                        // Has the port been disconected (USB serial ports)??
                        CSerialPort* COM = dynamic_cast<CSerialPort*>(m_stream);
                        if (COM!=NULL)
                        {
                                if (COM->isOpen())
                                        return true;

                                // It has been disconnected... try to reconnect:
                                cerr << "[CHokuyoURG] Serial port connection lost! Trying to reconnect..." << endl;

                                try
                                {
                                        COM->open();
                                        // OK, reconfigure the laser:
                                        turnOn();
                                        return true;
                                }
                                catch (...)
                                {
                                        // Not yet..
                                        return false;
                                }
                        }
                        else
                        {
                                return true;            // Assume OK
                        }
                }
        }
        else
        {
                if ( m_com_port.empty() && m_ip_dir.empty() && !m_port_dir )
                {
                        THROW_EXCEPTION("No stream bound to the laser nor COM serial port or ip and port provided in 'm_com_port','m_ip_dir' and 'm_port_dir'");
                }

                if ( !m_ip_dir.empty() )
                {
                        // Try to open the serial port:
                        CClientTCPSocket        *theCOM = new CClientTCPSocket();

                        printf("[CHokuyoURG] Connecting to %s:%u...\n", m_ip_dir.c_str(), m_port_dir);
                        theCOM->connect( m_ip_dir, m_port_dir );

                        if (!theCOM->isConnected())
                        {
                                cerr << "[CHokuyoURG] Cannot connect with the server '" << m_com_port << "'" << endl;
                                delete theCOM;
                                return false;
                        }

                        // Bind:
                        bindIO( theCOM );

                        m_I_am_owner_serial_port=true;

                }

                else
                {
                        // Try to open the serial port:
                        CSerialPort             *theCOM = new CSerialPort(m_com_port, true);

                        if (!theCOM->isOpen())
                        {
                                cerr << "[CHokuyoURG] Cannot open serial port '" << m_com_port << "'" << endl;
                                delete theCOM;
                                return false;
                        }

                        // Bind:
                        bindIO( theCOM );

                        m_I_am_owner_serial_port=true;

                }

                return true;
        }
        MRPT_END
}

/*-------------------------------------------------------------
                                                initialize
-------------------------------------------------------------*/
void CHokuyoURG::initialize()
{
        if (!checkCOMisOpen()) return;

        if (!turnOn())
        {
                cerr << "[CHokuyoURG::initialize] Error initializing HOKUYO scanner" << endl;
                return;
        }

}


/*-------------------------------------------------------------
                                                purgeBuffers
-------------------------------------------------------------*/
void CHokuyoURG::purgeBuffers()
{
        if (!checkCOMisOpen()) return;

        if ( m_ip_dir.empty() )
        {
                CSerialPort* COM = dynamic_cast<CSerialPort*>(m_stream);
                if (COM!=NULL)
                {
                        COM->purgeBuffers();
                }
        }
        else  // Socket connection
        {
                CClientTCPSocket* COM = dynamic_cast<CClientTCPSocket*>(m_stream);

                size_t to_read = COM->getReadPendingBytes();

                if ( to_read )
                {

                        void *buf = malloc(sizeof(uint8_t)*to_read);

                        size_t nRead = m_stream->ReadBuffer(buf,to_read);

                        if ( nRead != to_read )
                                THROW_EXCEPTION("Error in purge buffers: read and expected number of bytes are different.");

                        free( buf );
                }
        }
}