CRaePID.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  CRaePID_H
#define  CRaePID_H

#include <mrpt/hwdrivers/CGenericSensor.h>
#include <mrpt/hwdrivers/CSerialPort.h>
#include <mrpt/obs/CObservationGasSensors.h>
#include <mrpt/utils/CConfigFileBase.h>

namespace mrpt
{
        namespace hwdrivers
        {
                /** This class implements a driver for the RAE Systems gas PhotoIonization Detector (PID) (Tested on a MiniRAE Lite)
                  *   The sensor is accessed via a standard (or USB) serial port.
                  *
                  *   Refer to the manufacturer website for details on this sensor: http://www.raesystems.com/products/minirae-lite
                  *
                  *  \sa mrpt::obs::CObservationGasSensors
                  * \ingroup mrpt_hwdrivers_grp
                  */
                class HWDRIVERS_IMPEXP CRaePID : public mrpt::hwdrivers::CGenericSensor
                {
                                DEFINE_GENERIC_SENSOR(CRaePID)

                private:
                        /** COM port name
                         */
                        std::string             com_port;
                        int                             com_bauds;

                        /** COM port
                         */
                        CSerialPort COM;

                        /** Poses
                         */
                        float pose_x, pose_y, pose_z, pose_yaw, pose_pitch, pose_roll;

                        /** Returns true if the COM port is already open, or try to open it in other case.
                          * \return true if everything goes OK, or false if there are problems opening the port.
                          */
                        bool  tryToOpenTheCOM();

                public:
                        /** Default constructor.
                         */
                        CRaePID();
                        /** Default destructor.
                         */
                        virtual ~CRaePID(){COM.close();};
                        
                        void doProcess();

                        void  loadConfig_sensorSpecific(
                                 const mrpt::utils::CConfigFileBase &configSource,
                                const std::string                       &section);

                         /** Get firmware version string.
                          */
                         std::string getFirmware();

                         /** Get model string.
                          */
                         std::string getModel();

                         /** Get serial number as a string.
                          */
                         std::string getSerialNumber();

                         /** Get name string.
                          */
                         std::string getName();

                         /** Switch power on or off (returns true if turned on).
                          */
                         bool switchPower();

                         /** Get full reading (see PID documentation). In the returned observation, each reding is saved as a separate e-nose
                          */
                         mrpt::obs::CObservationGasSensors getFullInfo();

                         /** Get error status (true if an error was found). errorString shows the error code (see PID documentation)
                          */
                         bool errorStatus(std::string &errorString);

                         /** Get alarm limits
                          */
                         void getLimits(float &min, float &max);


                }; // End of class def.

        } // End of namespace
} // End of namespace
#endif