CPhidgetInterfaceKitProximitySensors.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/system/os.h>
#include <mrpt/hwdrivers/CPhidgetInterfaceKitProximitySensors.h>
#include <mrpt/utils/CConfigFileBase.h>

#include <algorithm>

#if MRPT_HAS_PHIDGET
        #include <phidget21.h>
#endif

using namespace mrpt::hwdrivers;
using namespace mrpt::obs;
using namespace mrpt::system;
using namespace mrpt::utils;
using namespace std;

IMPLEMENTS_GENERIC_SENSOR(CPhidgetInterfaceKitProximitySensors,mrpt::hwdrivers)

/* -----------------------------------------------------
                Constructor
   ----------------------------------------------------- */
CPhidgetInterfaceKitProximitySensors::CPhidgetInterfaceKitProximitySensors() :
        mrpt::utils::COutputLogger("CPhidgetInterfaceKitProximitySensors"),
        m_serialNumber(-1)
{
#if MRPT_HAS_PHIDGET
        m_carteInterfaceKit = new CPhidgetInterfaceKitHandle;
        *((CPhidgetInterfaceKitHandle*)m_carteInterfaceKit) = 0;
        m_sensorLabel = "PhidgetInterfaceKit";

        m_sensorIsPlugged.assign(8,false);
        m_minRange.assign(8, 0.1f);
        m_maxRange.assign(8, 0.8f);
        m_sensorPoses.resize(8);
        m_sensorType.assign(8,UNPLUGGED);

#else
        THROW_EXCEPTION("MRPT Was compiled without the CPhidget support. Recompile MRPT to use this class")
#endif
}

/* -----------------------------------------------------
                loadConfig_sensorSpecific
   ----------------------------------------------------- */
void  CPhidgetInterfaceKitProximitySensors::loadConfig_sensorSpecific(
        const mrpt::utils::CConfigFileBase &configSource,
        const std::string         &iniSection )
{
#if MRPT_HAS_PHIDGET
        if(!configSource.sectionExists(iniSection)) THROW_EXCEPTION("Can't find section in configuration file");
        // looking for the board parameters.
        // process_rate = 100                                           // Hz (common to all sensors)
        // serialNumber = 12345                                         // The interface kit serial number.
        m_process_rate = configSource.read_int(iniSection, string("process_rate"), 50);
        m_serialNumber = configSource.read_int(iniSection, string("serialNumber"), -1);
        bool display = configSource.read_bool(iniSection, string("displayRecapitulativeInformations"), false);

        // Looking for each sensor.

        for(int i = 1 ; i <= 8 ; i++)
        {
                string sensorNKeyName = format("sensor%d", i);
                string sensorType = configSource.read_string(iniSection, sensorNKeyName, string("UNPLUGGED"));
                if(sensorType != string("UNPLUGGED"))
                {
                        // the sensor is plugged :
                        // // check if the sensor type is supported.
                        if(sensorType == string("EZ1"))
                        {
                                m_sensorType[i-1] = EZ1;
                                m_minRange[i-1] = 0.15;                 // meters
                                m_maxRange[i-1] = 6.45;                 // meters
                        }else if(sensorType == string("SHARP-30cm"))
                        {
                                m_sensorType[i-1] = SHARP_30cm;
                                m_minRange[i-1] = 0.04;                 // meters
                                m_maxRange[i-1] = 0.3;                  // meters
                        }else if(sensorType == string("SHARP-80cm"))
                        {
                                m_sensorType[i-1] = SHARP_80cm;
                                m_minRange[i-1] = 0.06;                 // meters
                                m_maxRange[i-1] = 0.8;                  // meters
                        }else
                        {
                                string err = format("Type of sensor %d is not supported", i);
                                m_state = CGenericSensor::ssError;
                                THROW_EXCEPTION(err);
                        }
                        m_sensorIsPlugged[i-1] = true;
                        // reading the sensor pose.
                        string sensorNPoseX = format("pose%d_x", i);
                        string sensorNPoseY = format("pose%d_y", i);
                        string sensorNPoseZ = format("pose%d_z", i);
                        string sensorNPoseYaw = format("pose%d_yaw", i);
                        string sensorNPosePitch = format("pose%d_pitch", i);
                        string sensorNPoseRoll = format("pose%d_roll", i);

                        float x = configSource.read_float(iniSection, sensorNPoseX, 0.0);
                        float y = configSource.read_float(iniSection, sensorNPoseY, 0.0);
                        float z = configSource.read_float(iniSection, sensorNPoseZ, 0.0);
                        float yaw = configSource.read_float(iniSection, sensorNPoseYaw, 0.0);
                        float pitch = configSource.read_float(iniSection, sensorNPosePitch, 0.0);
                        float roll = configSource.read_float(iniSection, sensorNPoseRoll, 0.0);

                        m_sensorPoses[i-1] = mrpt::poses::CPose3D(x,y,z,yaw,pitch,roll);
                }
        }
        if(display)
        {       // width = 80;
                cout.fill(' ');
                cout << "+------------------------------------------------------------------------------+" << endl;
                cout.width(79);
                cout << "|  Phidget interfaceKit board number : " << m_serialNumber;
                cout << "|" << endl;
                cout << "| Process rate : " << m_process_rate;
                cout << "|" << endl;
                cout << "+---------+---------------------+----------------------------------------------+" << endl;
                cout << "|    #    + Sensor type         | Sensor 3D pose                               |" << endl;
                cout << "+---------+---------------------+----------------------------------------------+" << endl;
                for(int i = 0 ; i < 8 ; i++)
                {
                        cout << "|";
                        cout.width(9);
                        cout << i+1;
                        cout << " |";
                        cout.width(19);
                        switch (m_sensorType[i])
                        {
                                case EZ1 :
                                        cout << "EZ1 |";
                                        break;
                                case SHARP_30cm :
                                        cout << "SHARP_30cm |";
                                        break;
                                case SHARP_80cm :
                                        cout << "SHARP_80cm |";
                                        break;
                                case UNPLUGGED :
                                        cout << "UNPLUGGED |";
                                        break;
                        }
                        cout.width(43);
                        cout << m_sensorPoses[i];
                        cout << "|" << endl;
                }
                cout << "+------------------------------------------------------------------------------+" << endl;
        }
#else
   MRPT_UNUSED_PARAM(configSource);
   MRPT_UNUSED_PARAM(iniSection);
#endif
}

/* -----------------------------------------------------
                Initialize
   ----------------------------------------------------- */
void CPhidgetInterfaceKitProximitySensors::initialize(void)
{
#if MRPT_HAS_PHIDGET
        /*Try to connect to the interface kit board*/
        CPhidgetInterfaceKit_create((CPhidgetInterfaceKitHandle*)m_carteInterfaceKit);
        CPhidget_open(*((CPhidgetHandle*)(m_carteInterfaceKit)), m_serialNumber);
        int err = CPhidget_waitForAttachment(*((CPhidgetHandle*)(m_carteInterfaceKit)), 200);           // wait 200ms for board attachment.
        // if an error occur, "err" will be a > 0 value.
        if(err > 0 )
        {
                m_state = CGenericSensor::ssError;
                THROW_EXCEPTION("Can't find Phidget IK card, please check your serial number.");
        }
        // set frame rate
        /*int miliseconds = static_cast<int>(1000./static_cast<float>(m_process_rate));
        for(int i = 0 ; i < 8 ; i++)
        {
                if(m_sensorIsPlugged[i])
                {
                        int err = CPhidgetInterfaceKit_setDataRate(*((CPhidgetInterfaceKitHandle*)(m_carteInterfaceKit)), i, miliseconds);
                        if(err > 0)
                        {
                                string error = format("Can't set process rate to %d ms on channel %d of the Phidget IK Board.", miliseconds, i);
                                m_state = CGenericSensor::ssError;
                                THROW_EXCEPTION(error);
                        }
                }
        }*/             // seems to be used only in the event based programming way.
        // compute (min/max) of (min/max) ranges.
        m_minOfMinRanges = *min_element(m_minRange.begin(), m_minRange.end());
        m_maxOfMaxRanges = *max_element(m_maxRange.begin(), m_maxRange.end());
        // driver is ready.
        m_state = CGenericSensor::ssWorking;
#endif
}


/* -----------------------------------------------------
                Destructor
   ----------------------------------------------------- */
CPhidgetInterfaceKitProximitySensors::~CPhidgetInterfaceKitProximitySensors()
{
#if MRPT_HAS_PHIDGET
        if(*((CPhidgetHandle*)m_carteInterfaceKit))
        {
                CPhidget_close(*((CPhidgetHandle*)(m_carteInterfaceKit)));
                CPhidget_delete(*((CPhidgetHandle*)(m_carteInterfaceKit)));
        }
#endif
}

/*-------------------------------------------------------------
                                        doProcess
-------------------------------------------------------------*/
void CPhidgetInterfaceKitProximitySensors::doProcess( )
{
        CObservationRangePtr obs= CObservationRange::Create();

        try
        {
                getObservation(*obs);
                m_state = ssWorking;
                // if at least one data have been sensed :
                if(obs->sensedData.size() > 0)
                {
                        appendObservation( obs );
                }
        }
        catch(...)
        {
                m_state = ssError;
            THROW_EXCEPTION("No observation received from the Phidget board!");
        }
}

/*-------------------------------------------------------------
                                        getObservation
-------------------------------------------------------------*/
void CPhidgetInterfaceKitProximitySensors::getObservation( mrpt::obs::CObservationRange &obs )
{
#if MRPT_HAS_PHIDGET
        obs.timestamp                           = mrpt::system::getCurrentTime();
        obs.sensorLabel             = m_sensorLabel;
        obs.minSensorDistance           = m_minOfMinRanges;
        obs.maxSensorDistance           = m_maxOfMaxRanges;
        obs.sensorConeApperture         = DEG2RAD(2.0f);                // TODO : Adapt to real sensor cone apperture.
        obs.sensedData.clear();

        int sensorValue;
        for(int i = 0 ; i < 8 ; i++)
        {
                if(m_sensorIsPlugged[i])
                {
                        mrpt::obs::CObservationRange::TMeasurement obsRange;
                        int err = CPhidgetInterfaceKit_getSensorValue(*((CPhidgetInterfaceKitHandle*)(m_carteInterfaceKit)), i, &sensorValue);
                        if(err>0)
                        {
                                string error("Error durring acquiering sensor value on channel : %d", i);
                                THROW_EXCEPTION(error);
                        }
                        switch (m_sensorType[i])
                        {
                                case EZ1 :
                                        // TODO : find the conversion formula.
                                        obsRange.sensedDistance = 1.0;
                                        break;
                                case SHARP_30cm :
                                        obsRange.sensedDistance = 2076./(static_cast<float>(sensorValue) - 11.);
                                        break;
                                case SHARP_80cm :
                                        obsRange.sensedDistance = 4800./(static_cast<float>(sensorValue) - 16.92);
                                        break;
                                default :
                                        obsRange.sensedDistance = -1;
                                        break;
                        }

                        obsRange.sensorID = i;
                        obsRange.sensorPose = m_sensorPoses[i];         // The pose of the IR sensor on the robot
                        obs.sensedData.push_back( obsRange );
                }
        }
#else
   MRPT_UNUSED_PARAM(obs);
#endif
}