CLMS100eth.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 CLMS100ETH_H
#define CLMS100ETH_H
 
#include <mrpt/hwdrivers/C2DRangeFinderAbstract.h>
#include <mrpt/utils/CClientTCPSocket.h>
 
namespace mrpt
{
        namespace hwdrivers
        {
                /** This "software driver" implements the communication protocol for interfacing a SICK LMS100 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 LMS100 's ip address and port.
                        *   Device will be configured with the following parameters :
                        * - Start Angle : -45 deg (imposed by hardware)
                        * - Stop Angle : +225 deg (imposed by hardware)
                        * - Apperture : 270 deg (imposed by hardware)
                        * - Angular resolution : 0.25 deg
                        * - Scan frequency : 25 Hz
                        * - Max Range : 20m (imposed by hardware).
                        *
                        * <b>Important note:</b> SICK LMS 1xx devices have two levels of configuration. In its present implementation, this class only handles one of them, so
                        *    <b>before using this class</b>, you must "pre-configure" your scanner with the SICK's software "SOAP" (this software ships with the device),
                        *    and set the framerate with this software. Of course, you have to pre-configure the device just once, then save that configuration in its flash memory.
                        *
                        * To get a laser scan you must proceed like that :
                        * \code
                        *     CLMS200Eth laser(string("192.168.0.10"), 1234);
                        *     laser.turnOn();
                        *     bool isOutObs, hardwareError;
                        *     CObservation2DRangeScan outObs;
                        *     laser.doProcessSimple(isOutObs, outObs, hardwareError);
                        * \endcode
                        *
                        * The sensor pose on the vehicle could be loaded from an ini configuration file with :
                        *  \code
                        *  PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
                        * -------------------------------------------------------
                        *   [supplied_section_name]
                        *         ip_address = 192.168.0.50 ;a string wich is the SICK's ip adress (default is 192.168.0.1)
                        *   TCP_port = 1234                     ; an integer value : the tcp ip port on wich the sick is listening (default is 2111).
                        *   pose_x=0.21 ; Laser range scaner 3D position in the robot (meters)
                        *   pose_y=0
                        *   pose_z=0.34
                        *   pose_yaw=0  ; Angles in degrees
                        *   pose_pitch=0
                        *   pose_roll=0
                        *  \endcode
                        * This class doesn't configure the SICK LMS sensor, it is recomended to configure the sensor via the
                * the SICK software : SOPAS.
                        * \note This class was contributed by Adrien Barral - Robopec (France)
                * \ingroup mrpt_hwdrivers_grp
                        */
                class HWDRIVERS_IMPEXP CLMS100Eth : public C2DRangeFinderAbstract
                {
                        DEFINE_GENERIC_SENSOR(CLMS100Eth)
                        public:
                                /** Constructor.
                                        * Note that there is default arguments, here you can customize IP Adress and TCP Port of your device.
                                        */
                                CLMS100Eth(std::string _ip=std::string("192.168.0.1"), unsigned int _port=2111);
                                /** Destructor.
                                        * Close communcation with the device, and free memory.
                                        */
                                virtual ~CLMS100Eth();
                                /** 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 doProcessSimple(bool &outThereIsObservation, mrpt::obs::CObservation2DRangeScan &outObservation, bool &hardwareError);
 
                                /** This method must be called before trying to get a laser scan.
                                        */
                                bool turnOn();
                                /** This method could be called manually to stop communication with the device. Method is also called by destructor.
                                        */
                                bool turnOff();
 
                                /** A method to set the sensor pose on the robot.
                                        * Equivalent to setting the sensor pose via loading it from a config file.
                                        */
                                void setSensorPose(const mrpt::poses::CPose3D& _pose);
 
                                /** This method should be called periodically. Period depend on the process_rate in the configuration file.
                                        */
                                void  doProcess();
 
                                /** Initialize the sensor according to the parameters previously read in the configuration file.
                                        */
                                void initialize();
                private :
                        std::string             m_ip;
                        unsigned int            m_port;
                        mrpt::utils::CClientTCPSocket m_client;
                        bool                    m_turnedOn;
                        std::string             m_cmd;
                        bool                    m_connected;
                        unsigned int            m_scanFrequency;    // hertz
                        double                  m_angleResolution;  // degrees
                        double                  m_startAngle;       // degrees
                        double                  m_stopAngle;        // degrees
                        mrpt::poses::CPose3D    m_sensorPose;
                        double                  m_maxRange;
                        double                  m_beamApperture;
 
                        void generateCmd(const char *cmd);
                        bool checkIsConnected();
                        bool decodeLogIn(char *msg);
                        bool decodeScanCfg(std::istringstream& stream);
                        bool decodeScanDataCfg(std::istringstream& stream);
                        bool decodeScan(char *buf, mrpt::obs::CObservation2DRangeScan& outObservation);
                        void sendCommand(const char *cmd);
                        void roughPrint( char *msg );
 
 
                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 // CLMS100ETH_H