CGillAnemometer.h

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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    |
   +---------------------------------------------------------------------------+ */
#ifndef  CGillAnemometer_H
#define  CGillAnemometer_H

#include <mrpt/hwdrivers/CGenericSensor.h>
#include <mrpt/hwdrivers/CSerialPort.h>
#include <mrpt/obs/CObservationWindSensor.h>
#include <mrpt/utils/CConfigFileBase.h>

namespace mrpt
{
        namespace hwdrivers
        {
                /** This class implements a driver for the Gill Windsonic Option 1 Anemometer
                  *   The sensor is accessed via a standard serial port.
                  *
                  *   Refer to the manufacturer website for details on this sensor: http://gillinstruments.com/data/manuals/WindSonic-Web-Manual.pdf
                  *       Configure for single <CR> return, at 2Hz
                  *  \sa mrpt::obs::CObservationWindSensor
                  * \ingroup mrpt_hwdrivers_grp
                  */
                class HWDRIVERS_IMPEXP CGillAnemometer : public mrpt::hwdrivers::CGenericSensor
                {
                                DEFINE_GENERIC_SENSOR(CGillAnemometer)

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

                        /** COM port
                         */
                        CSerialPort COM;

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

                        /** Returns true if the COM port is already open, or try to open it in other case.
                          * \return true if everything goes OK, or false if there are problems opening the port.
                          */
                        bool  tryToOpenTheCOM();

                public:
                        /** Default constructor.
                         */
                        CGillAnemometer();
                        /** Default destructor.
                         */
                        virtual ~CGillAnemometer(){COM.close();};
                        
                        void doProcess();

                        void  loadConfig_sensorSpecific(
                                 const mrpt::utils::CConfigFileBase &configSource,
                                const std::string                       &section);
                }; // End of class def.

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