CRoboPeakLidar.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 CRoboPeakLidar_H
#define CRoboPeakLidar_H

#include <mrpt/poses/CPose3D.h>
#include <mrpt/hwdrivers/C2DRangeFinderAbstract.h>
#include <mrpt/utils/circular_buffer.h>

namespace mrpt
{
        namespace hwdrivers
        {
                /** Interfaces a Robo Peak LIDAR laser scanner. 
                  *
                  *  See the example "samples/RoboPeakLidar_laser_test" and the application "rawlog-grabber" for a ready-to-use application to gather data from the scanner.
                  *
                  *  \code
                  *  PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
                  * -------------------------------------------------------
                  *   [supplied_section_name]
                  *    COM_port_WIN = COM3
                  *    COM_port_LIN = ttyS0
                  *    pose_x=0 // Laser range scaner 3D position in the robot (meters)
                  *    pose_y=0
                  *    pose_z=0
                  *    pose_yaw=0       // Angles in degrees
                  *    pose_pitch=0
                  *    pose_roll=0
                  *
                  *    //preview = true // Enable GUI visualization of captured data
                  *
                  *    // Optional: Exclusion zones to avoid the robot seeing itself:
                  *    //exclusionZone1_x = 0.20 0.30 0.30 0.20
                  *    //exclusionZone1_y = 0.20 0.30 0.30 0.20
                  *
                  *    // Optional: Exclusion zones to avoid the robot seeing itself:
                  *    //exclusionAngles1_ini = 20  // Deg
                  *    //exclusionAngles1_end = 25  // Deg
                  *
                  *  \endcode
                  * \note Class introduced in MRPT 1.2.2
                  * \ingroup mrpt_hwdrivers_grp
                  */
                class HWDRIVERS_IMPEXP CRoboPeakLidar : public C2DRangeFinderAbstract
                {
                        DEFINE_GENERIC_SENSOR(CRoboPeakLidar)
                public:
                        CRoboPeakLidar(); //!< Constructor
                        virtual ~CRoboPeakLidar();  //!< Destructor: turns the laser off.

                        virtual void initialize();  //!< Attempts to connect and turns the laser on. Raises an exception on error.

                        // See base class docs
                        virtual void  doProcessSimple(
                                bool                                                    &outThereIsObservation,
                                mrpt::obs::CObservation2DRangeScan      &outObservation,
                                bool                                                    &hardwareError );

                        /** If set to non-empty, the serial port will be attempted to be opened automatically when this class is first used to request data from the laser.  */
                        void setSerialPort(const std::string &port_name);
                        const std::string getSerialPort() { return m_com_port; }  //!< Returns the currently set serial port \sa setSerialPort

                        virtual bool  turnOn();  //!< See base class docs
                        virtual bool  turnOff(); //!< See base class docs

                        /** Returns true if the device is connected & operative */
                        bool getDeviceHealth() const;

                        void disconnect(); //!< Closes the comms with the laser. Shouldn't have to be directly needed by the user

                protected:
                        poses::CPose3D  m_sensorPose;       //!< The sensor 6D pose:
                        std::string     m_com_port;
                        int             m_com_port_baudrate;
                        void          * m_rplidar_drv;  // Opaque "RPlidarDriver*"

                        /** Returns true if communication has been established with the device. If it's not, 
                          *  try to create a comms channel. 
                          * \return false on error.
                          */
                        bool  checkCOMMs(); 
                        

                        /** See the class documentation at the top for expected parameters */
                        void  loadConfig_sensorSpecific(
                                const mrpt::utils::CConfigFileBase &configSource,
                                const std::string         &iniSection );

                };      // End of class

        } // End of namespace

} // End of namespace

#endif