CImpinjRFID.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/CImpinjRFID.h>
#include <mrpt/system/os.h>
 
using namespace mrpt::hwdrivers;
using namespace mrpt::system;
 
IMPLEMENTS_GENERIC_SENSOR(CImpinjRFID,mrpt::hwdrivers)
 
CImpinjRFID::CImpinjRFID()
{
        m_sensorLabel = "RFID";
        connected = false;
}
 
 
CImpinjRFID::~CImpinjRFID()
{
        closeReader();
}
 
 
void CImpinjRFID::initialize()
{
 
 
        // start the driver
        //use a separate thread so the connection can be established while the program starts. This is essential because the module will stall on the accept() call until the driver executable requests a connection, and, on the other hand, if the module is not listening, the driver will fail
        mrpt::system::createThread(dummy_startDriver,this);
//      system::createThreadFromObjectMethod<CImpinjRFID>(this,startDriver);
 
        // start connection
 
        connect();
 
}
 
 
 
void CImpinjRFID::dummy_startDriver(CImpinjRFID *o)
{
        o->startDriver();
}
 
void CImpinjRFID::startDriver()
{
        // start the driver
        std::stringstream cmdline;
        std::cout << "Waiting for the driver to start ... ";
 
        // create the command line (executable path + parameters)
        cmdline << driver_path << " " << reader_name.c_str() << " " << IPm.c_str() << " " << port;
 
        // wait until the current module starts the sockets and listens to it
        system::sleep(2000);
 
        const int ret = ::system(cmdline.str().c_str());
        if (0!=ret)
                std::cerr << "[CImpinjRFID::startDriver] Error ("<< ret << ") invoking command:\n" << cmdline.str() << std::endl;
 
        system::exitThread();  // JL->Emil: Really needed? If not, just remove...
}
 
void  CImpinjRFID::loadConfig_sensorSpecific(
        const mrpt::utils::CConfigFileBase &configSource,
        const std::string                       &iniSection )
{
 
        MRPT_START
                // TEMPORARILY DISABLED
/*              pose_x_1 = configSource.read_float(iniSection,"pose_x_1",0,true);
                pose_y_1 = configSource.read_float(iniSection,"pose_y_1",0,true);
                pose_z_1 = configSource.read_float(iniSection,"pose_z_1",0,true);
                pose_roll_1 = configSource.read_float(iniSection,"pose_roll_1",0,true);
                pose_pitch_1 = configSource.read_float(iniSection,"pose_pitch_1",0,true);
                pose_yaw_1 = configSource.read_float(iniSection,"pose_yaw_1",0,true);
 
                pose_x_2 = configSource.read_float(iniSection,"pose_x_2",0,true);
                pose_y_2 = configSource.read_float(iniSection,"pose_y_2",0,true);
                pose_z_2 = configSource.read_float(iniSection,"pose_z_2",0,true);
                pose_roll_2 = configSource.read_float(iniSection,"pose_roll_2",0,true);
                pose_pitch_2 = configSource.read_float(iniSection,"pose_pitch_2",0,true);
                pose_yaw_2 = configSource.read_float(iniSection,"pose_yaw_2",0,true);
*/
                IPm = configSource.read_string(iniSection,"local_IP","127.0.0.1",false);
                reader_name = configSource.read_string(iniSection,"reader_name","", true);
                port = configSource.read_int(iniSection,"listen_port",0,true);
                driver_path = configSource.read_string(iniSection,"driver_path","",true);
 
        MRPT_END
}
 
/*---------------------------------------------------------------
                                        getObservation
    Get the power of a given network as an observation
 ---------------------------------------------------------------*/
void CImpinjRFID::connect()
{
        if (!connected)
 
                // Start the server
                server = new mrpt::utils::CServerTCPSocket(port);
 
        client = server->accept();
 
        system::sleep(1000);
        connected = true;
 
}
 
/*---------------------------------------------------------------
                                        getObservation
    Get the power of a given network as an observation
 ---------------------------------------------------------------*/
bool CImpinjRFID::getObservation( mrpt::obs::CObservationRFID &obs)
{
        try{
                bool receivedSomething = false;
                char msg[34];
                char cmd[20];
                char epc[24];
                char rx_pwr[5];
                char *tmp;
                obs.tag_readings.clear();
                // send an observation command to the device interface program
                strcpy(cmd, "OBS\0");
                client->writeAsync(cmd,10);
 
                // receive a reading from the sensor through the socket
                while (client->readAsync(msg,34,100) > 0)
                {
                        receivedSomething = true;
                        // the received string is in the format: ANT_PORT EPC RX_PWR ZERO_FILL
                        const char *ant_port_ptr = mrpt::system::strtok(msg," ",&tmp);
                        if (!ant_port_ptr)
                        {
                            std::cerr << "[CImpinjRFID::getObservation] Unexpected format in sensor data! (skipping).\n";
                            continue;
                        }
                        const char ant_port =  *ant_port_ptr;
                        strcpy(epc,mrpt::system::strtok(NULL," ",&tmp));
                        strcpy(rx_pwr,mrpt::system::strtok(NULL, " ",&tmp));
 
                        // Fill the observation
                        obs.tag_readings.resize(obs.tag_readings.size()+1);  // Alloc space for one more tag obs
                        mrpt::obs::CObservationRFID::TTagReading & new_tag = *obs.tag_readings.rbegin();  // Get a reference to the latest new tag structure
 
                        // Fill in fields in "new_tag":
                        new_tag.antennaPort = mrpt::format("%c",ant_port);
                        new_tag.epc = std::string(epc);
                        new_tag.power = atof(rx_pwr);
                        obs.sensorLabel = m_sensorLabel;
 
                        //std::cout << "mrpt::hwdrivers::CImpinjRFID::getObservation() " << "\n\tRXPWR: " << atof(rx_pwr) << " PWR READ: " << rx_pwr << std::endl;
                }
                if (receivedSomething)
                        return true;
                else
                        return false;
 
        }
        catch (std::exception &e)
        {
                std::cerr << e.what() << std::endl;
                return false;
        }
}
 
/*---------------------------------------------------------------
                                        getObservation
    Get the power of a given network as an observation
 ---------------------------------------------------------------*/
void CImpinjRFID::closeReader()
{
        char cmd[20];
        // send a kill command to the device interface program
        strcpy(cmd, "END\0");
        client->writeAsync(cmd,10);  // JL->Emil: Why 10 not strlen(cmd)? Is the server expecting a fixed length data block?
        client->close();
}
 
 
void CImpinjRFID::doProcess(){
 
        mrpt::obs::CObservationRFIDPtr obs = mrpt::obs::CObservationRFID::Create();
        if(getObservation(*obs))
                appendObservation(obs);
}