CIMUXSens.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 CIMUXSens_H
#define CIMUXSens_H


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

#include <mrpt/poses/CPose3D.h>

namespace mrpt
{
        namespace hwdrivers
        {

                /** A class for interfacing XSens 3rd generation Inertial Measuring Units (IMUs), the "XSens MTi" model.
                  *  It uses a serial port or USB-to-serial adapter to communicate to the device, so no special drivers are needed.
                  *  For the more recent 4th generation devices, see the class mrpt::hwdrivers::CIMUXSens_MT4
                  *
                  *  See also the application "rawlog-grabber" for a ready-to-use application to gather data from the scanner.
                  *
                  *  \code
                  *  PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
                  * -------------------------------------------------------
                  *   [supplied_section_name]
                  *    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 (optional. If not provided, the system will search the connected port)
                  *        COM_port_WIN = COM1               ; COM PORT in Windows (optional. If not provided, the system will search the connected port)
                  *        baudRate                              ; Baudrate for communicating with the COM port (mandatory for Linux)
                  *                                                                 (for Windows, if COM_port_WIN is not provided, this value is ignored)
                  *  \endcode
                  * \ingroup mrpt_hwdrivers_grp
                  */
                class HWDRIVERS_IMPEXP CIMUXSens : public hwdrivers::CGenericSensor
                {
                        DEFINE_GENERIC_SENSOR(CIMUXSens)
                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;
                        uint64_t                                        m_timeStartUI;
                        mrpt::system::TTimeStamp        m_timeStartTT;

                        mrpt::poses::CPose3D            m_sensorPose;

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

                        //CSerialPort           m_serial_port;                  //!< The serial port connection

                        void * /*xsens::Cmt3 */         m_cmt3_ptr;
                        void * /*CmtDeviceId */         m_deviceId_ptr;
                        unsigned int                            m_toutCounter;                          //!< Timeout counter (for internal use only)

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

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

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


                        /** 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 xSens device and configure it for getting orientation data */
                        void initialize();

                }; // end of class

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

#endif