CSickLaserUSB.h

Go to the documentation of this file.

/* +---------------------------------------------------------------------------+
   |                     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 CSickLaserUSB_H
#define CSickLaserUSB_H

#include <mrpt/hwdrivers/C2DRangeFinderAbstract.h>
#include <mrpt/hwdrivers/CInterfaceFTDI.h>

namespace mrpt
{
        namespace hwdrivers
        {
                /** This "software driver" implements the communication protocol for interfacing a SICK LMS2XX laser scanners through a custom USB RS-422 interface board.
                  *
                  *   NOTE that this class is for a custom hardware built at our lab (MAPIR, University of Malaga).
                  *   For a generic serial interface, see the class CSickLaserSerial.
                  *
                  *   This class does not need to be bind, i.e. you do not need to call C2DRangeFinderAbstract::bindIO. However, calling it will have not effect.
                  *   In this class the "bind" is ignored since it is designed for USB connections only, thus it internally generate the required object for simplicity of use.
                  *   The serial number of the USB device is used to open it on the first call to "doProcess", thus you must call "loadConfig" before this, or manually
                  *     call "setDeviceSerialNumber". The default serial number is "LASER001"
                  *
                  * Warning: Avoid defining an object of this class in a global scope if you want to catch all potential
                  *      exceptions during the constructors (like USB interface DLL not found, etc...)
                  *
                  *
                  *  \code
                  *  PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
                  * -------------------------------------------------------
                  *   [supplied_section_name]
                  *   SICKUSB_serialNumber=LASER001
                  *   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
                  *    //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
                  * \ingroup mrpt_hwdrivers_grp
                  *
                  */
                class HWDRIVERS_IMPEXP CSickLaserUSB : public C2DRangeFinderAbstract
                {
                        DEFINE_GENERIC_SENSOR(CSickLaserUSB)

                private:
                        CInterfaceFTDI          *m_usbConnection;
                        std::string                     m_serialNumber;

                        uint32_t                m_timeStartUI;  //!< Time of the first data packet, for synchronization purposes.
                        mrpt::system::TTimeStamp        m_timeStartTT;

                        /** The sensor 6D pose:
                          */
                        poses::CPose3D          m_sensorPose;

                        bool    checkControllerIsConnected();
                        bool    waitContinuousSampleFrame( std::vector<float> &ranges, unsigned char &LMS_status, uint32_t &out_board_timestamp, bool &is_mm_mode );

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

                public:
                        /** Constructor
                          */
                        CSickLaserUSB();

                        /** Destructor
                          */
                        virtual ~CSickLaserUSB();

                        /** Changes the serial number of the device to open (call prior to 'doProcess')
                          */
                        void  setDeviceSerialNumber(const std::string &deviceSerialNumber)
                        {
                                m_serialNumber = deviceSerialNumber;
                        }

                        /** Specific laser scanner "software drivers" must process here new data from the I/O stream, and, if a whole scan has arrived, return it.
                          *  This method will be typically called in a different thread than other methods, and will be called in a timely fashion.
                          */
                        void  doProcessSimple(
                                bool                                                    &outThereIsObservation,
                                mrpt::obs::CObservation2DRangeScan      &outObservation,
                                bool                                                    &hardwareError );


                        /** Enables the scanning mode (in this class this has no effect).
                          * \return If everything works "true", or "false" if there is any error.
                          */
                        bool  turnOn();

                        /** Disables the scanning mode (in this class this has no effect).
                          * \return If everything works "true", or "false" if there is any error.
                          */
                        bool  turnOff();

                };      // End of class

        } // End of namespace
} // End of namespace

#endif