CGyroKVHDSP3000.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 CGyroKVHDSP3000_H
#define CGyroKVHDSP3000_H


#include <mrpt/hwdrivers/CGenericSensor.h>
#include <mrpt/hwdrivers/CSerialPort.h>

#include <mrpt/poses/CPose3D.h>
#include <mrpt/obs/CObservationIMU.h>

namespace mrpt
{
        namespace hwdrivers
        {
                enum GYRO_MODE{RATE, INCREMENTAL_ANGLE, INTEGRATED_ANGLE};              
                /** A class for interfacing KVH DSP 3000 gyroscope with an assynchronous serial communication (product SN : 02-1222-01).
                  *  It uses a serial port connection to the device. The class implements the generic sensor class.
                  *  See also the application "rawlog-grabber" for a ready-to-use application to gather data from the scanner.
                  *      The generated observation is a CObservationIMU, but only the yaw angular velocity and the absolute yaw position are 
                  *  are set in the vector CObservationIMU::rawMeasurements.
                  *  The sensor process rate is imposed by hardware at 100Hz.
                  *  For now, this sensor is only supported on posix system.
                  *  \code
                  *  PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
                  * -------------------------------------------------------
                  *   [supplied_section_name]
                  *    process_rate = 100                               ; MUST be 100 Hz.
                  *    pose_x=0     ; Sensor 3D position relative to the robot (meters)
                  *    pose_y=0
                  *    pose_z=0
                  *    pose_yaw=0       ; Angles in degrees
                  *    pose_pitch=0
                  *    pose_roll=0
                  *    sensorLabel = <label> ; Label of the sensor
                  *    COM_port_LIN     = /dev/ttyUSB0       ; COM PORT in LINUX 
                  *    operatingMode = <"rate"/"integrated", "incremental">  ; Default mode is Rate.
                  *  \endcode
                  * In most of the communs applications, this class will be used as :
              * \code
                  * CGyroKVHDSP3000 kvh;
                  * /// ...
                  * CConfigFile conf("conf.ini");
                  * /// ...
                  * kvh.loadConfig_sensorSpecific(conf, "KVH");
                  * /// ...
                  * while(1) {
                  *     kvh.doProcess();
                  *             TListObservations rateObs;
                  *     kvh.getObservations(rateObs);
                  *             // ....
                  * \endcode
                  * \ingroup mrpt_hwdrivers_grp
                  */
                class HWDRIVERS_IMPEXP CGyroKVHDSP3000 : public hwdrivers::CGenericSensor
                {
                        DEFINE_GENERIC_SENSOR(CGyroKVHDSP3000)
                protected:

                        /** This serial port will be attempted to be opened automatically when this class is first used to request data from the device.
                          * \sa hwdrivers::CSerialPort
                          */
                        int                                                     m_COMbauds;
                        std::string                                     m_com_port;

                        mrpt::poses::CPose3D            m_sensorPose;

                        /** Search the port where the sensor is located and connect to it
                          */
                        bool                    searchPortAndConnect();

            CSerialPort*                        m_serialPort;                   //!< The serial port connection
                        GYRO_MODE               m_mode;
                        bool                                            m_firstInteration;
                                        
                        mrpt::obs::CObservationIMUPtr           m_observationGyro;

                public:
                        /** Constructor
                          */
                        CGyroKVHDSP3000( );

                        /** See the class documentation at the top for expected parameters */
                        void  loadConfig_sensorSpecific(
                                const mrpt::utils::CConfigFileBase &configSource,
                                const std::string         &iniSection );

                        /** Destructor
                          */
                        virtual ~CGyroKVHDSP3000();


                        /** This method will be invoked at a minimum rate of "process_rate" (Hz)
                          *  \exception This method must throw an exception with a descriptive message if some critical error is found.
                          */
                        void doProcess();

                        /** Turns on the KVH DSP 3000 device and configure it for getting orientation data. you must have called loadConfig_sensorSpecific before
                          * calling this function.
                          */
                        void initialize();
                        /** Send to the sensor the command 'Z' wich reset the integrated angle. (in both rate mode and incremental, this function has no effect) */
                        void resetIncrementalAngle(void);
                        void changeMode(GYRO_MODE _newMode);


                }; // end of class

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

#endif