CIbeoLuxETH.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 CIbeoLuxETH_H
#define CIbeoLuxETH_H

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

namespace mrpt
{
        namespace hwdrivers
        {
                /** 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(std::string _ip=std::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 :
                        std::string                  m_ip;
                        unsigned int            m_port;
                        mrpt::utils::CClientTCPSocket        m_client;
                        unsigned int            m_scanFrequency;    // in hertz
                        double                  m_angleResolution;  // in degrees
                        double                  m_startAngle;       // degrees
                        double                  m_stopAngle;        // degrees
                        mrpt::poses::CPose3D                 m_sensorPose;
                        double                  m_maxRange;
                        double                  m_beamApperture;
                        bool                                    m_run;
                        void                                    dataCollection();
                        mrpt::system::TThreadHandle     dataCollectionThread;
                        double                                  convertLayerToRad(int scanlayer);
                        double                                  convertTicksToHRad(int hticks, int hticksPerRotation);
                        mrpt::poses::CPoint3D   convertToCartesian(float vrad, float hrad, float distance);
                        float                                   vwinkel;
                        std::vector<mrpt::obs::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