CRoboticHeadInterface.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/CRoboticHeadInterface.h>

using namespace mrpt::utils;
using namespace mrpt::math;
using namespace mrpt::hwdrivers;

/*-------------------------------------------------------------
                                                CRoboticHeadInterface
-------------------------------------------------------------*/
CRoboticHeadInterface::CRoboticHeadInterface() :
        mrpt::utils::COutputLogger("CRoboticHeadInterface")
{
        MRPT_START

        m_serialNumber = "OREJA001";
        gain.resize(3);
        gain[0]=127;    //0x7F (maximo)
        gain[1]=127;    //0x7F (maximo)
        gain[2]=127;    //0x7F (maximo)
        head_yaw = 0;
        head_pitch = 0;

        MRPT_END
}

/*-------------------------------------------------------------
                                                loadConfig_sensorSpecific
-------------------------------------------------------------*/
void  CRoboticHeadInterface::loadConfig_sensorSpecific( const mrpt::utils::CConfigFileBase *configSource,
                                                                const std::string         &iniSection )
{
        configSource->read_vector(iniSection.c_str(),"gain0",gain,gain);
        m_serialNumber = configSource->read_string(iniSection.c_str(),"OREJA_serialNumber",m_serialNumber);
        head_yaw = configSource->read_int(iniSection.c_str(),"HeadYaw",head_yaw);
        head_pitch = configSource->read_int(iniSection.c_str(),"HeadPitch",head_pitch);
}

/*-------------------------------------------------------------
                                                        GetGain
-------------------------------------------------------------*/
void CRoboticHeadInterface::GetGain(int &_gain,int &channel)
{
        msg.type=0x58;
        msg.content.resize(1);
        msg.content[0]=(unsigned char)channel;
        m_usbConnection.sendMessage(msg);
        while (!m_usbConnection.receiveMessage(msg));
        _gain = msg.content[0];
        if (msg.content[0])
                THROW_EXCEPTION("ERROR LEYENDO LA GANANCIA DEL AMPLIFICADOR DE LA OREJA \n");
}


/*-------------------------------------------------------------
                                                        SetGain
-------------------------------------------------------------*/
bool CRoboticHeadInterface::SetGain(int &new_gain,int &channel)
{
        msg.type = 0x57;
        msg.content.resize(2);
        msg.content[0]=(unsigned char)channel;
        msg.content[1]=(unsigned char)new_gain;
        m_usbConnection.sendMessage(msg);
        while (!m_usbConnection.receiveMessage(msg));
        if (msg.content[0]==0)
                return 0;
        else
                return 1;
}

/*-------------------------------------------------------------
                                                GetSoundLocation
-------------------------------------------------------------*/
void CRoboticHeadInterface::GetSoundLocation(int &ang)
{
        msg.type = 0x59;
        msg.content.resize(0);
        m_usbConnection.sendMessage(msg);
        while (!m_usbConnection.receiveMessage(msg));
        ang = 256*(int)msg.content[1]+(int)msg.content[0];
}

/*-------------------------------------------------------------
                                                Get3SoundBuffer
-------------------------------------------------------------*/
void CRoboticHeadInterface::Get3SoundBuffer(CMatrixTemplate<int>        &buf)
{
        buf.setSize(3,500);     //3 channel, 500 samples per channel
        msg.type = 0x51;
        msg.content.resize(0);
        m_usbConnection.sendMessage(msg);

        //Las lecturas se haran de 100 en 100 datos y hay 3 buffers de 500 muestras cada uno
        for (size_t k = 0; k < 3; k++)  //Lectura de cada canal
        {
                for (size_t j = 0; j < 500/100; j++)    //Lectura de un canal completo
                {
                        while (!m_usbConnection.receiveMessage(msg));
                        for (size_t i = 0; i < 100; i++)        //Lectura de un envio
                                buf(k,100*j+i) = 256*(int)msg.content[2*i+1]+(int)msg.content[2*i];
                }
        }
}