CHokuyoURG.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/containers/circular_buffer.h>
#include <mrpt/gui/CDisplayWindow3D.h>
#include <mrpt/hwdrivers/C2DRangeFinderAbstract.h>
#include <mrpt/poses/CPose3D.h>

namespace mrpt::hwdrivers
{
/** This software driver implements the protocol SCIP-2.0 for interfacing HOKUYO
 * URG/UTM/UXM/UST laser scanners (USB or Ethernet).
 *  Refer to the example code
 * [HOKUYO_laser_test](http://www.mrpt.org/tutorials/mrpt-examples/example_hokuyo_urgutm_laser_scanner/)
 *  and to example rawlog-grabber [config
 * files](https://github.com/MRPT/mrpt/tree/master/share/mrpt/config_files/rawlog-grabber)
 *
 *  See also 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]
 *    HOKUYO_motorSpeed_rpm=600
 *    #HOKUYO_HS_mode   = false    // Optional (un-comment line if used):
 * Set/unset the High-sensitivity mode (not on all models/firmwares!)
 *
 *    # Uncomment serial port or IP address, depending on the Hokuyo model
 * (serial/USB vs. Ethernet):
 *    COM_port_WIN = COM3       // Serial port name in Windows
 *    COM_port_LIN = ttyS0      // Serial port name in GNU/Linux
 *    #IP_DIR   =   192.168.0.10 // Uncommented this and "PORT_DIR" if the
 * used HOKUYO is connected by Ethernet instead of USB
 *    #PORT_DIR = 10940         // Default value: 10940
 *
 *    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
 *
 *    #disable_firmware_timestamp = true   // Uncomment to use PC time instead
 * of laser time
 *
 *    # Optional: reduced FOV:
 *    # reduced_fov  = 25 // Deg
 *
 *    # Sets decimation of scans directly at the Hokuyo scanner.
 *    # 0=means send all scans, 1=means send 50% of scans, etc.
 *    # scan_interval = 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 CHokuyoURG : public C2DRangeFinderAbstract
{
    DEFINE_GENERIC_SENSOR(CHokuyoURG)
   public:
    /** Used in CHokuyoURG::displayVersionInfo */
    struct TSensorInfo
    {
        /** The sensor model */
        std::string model;
        /** Min/Max ranges, in meters. */
        double d_min{0}, d_max{0};
        /** Number of measuremens per 360 degrees. */
        int scans_per_360deg{0};
        /** First, last, and front step of the scanner angular span. */
        int scan_first{0}, scan_last{0}, scan_front{0};
        /** Standard motor speed, rpm. */
        int motor_speed_rpm{0};
    };

   private:
    /** The first and last ranges to consider from the scan. */
    int m_firstRange{44}, m_lastRange{725};
    /** The motor speed (default=600rpm) */
    int m_motorSpeed_rpm{0};
    /** The sensor 6D pose: */
    poses::CPose3D m_sensorPose{0, 0, 0, 0, 0, 0};
    /** Auxiliary buffer for readings */
    mrpt::containers::circular_buffer<uint8_t> m_rx_buffer;

    /** The last sent measurement command (MDXXX), including the last 0x0A. */
    std::string m_lastSentMeasCmd;

    /** High sensitivity [HS] mode (default: false) */
    bool m_highSensMode{false};
    mrpt::gui::CDisplayWindow3D::Ptr m_win;

    /** Enables the SCIP2.0 protocol (this must be called at the very
     * begining!).
     * \return false on any error
     */
    bool enableSCIP20();

    /** Passes to 115200bps bitrate.
     * \return false on any error
     */
    bool setHighBaudrate();

    /** Switchs the laser on.
     * \return false on any error
     */
    bool switchLaserOn();

    /** Switchs the laser off
     * \return false on any error
     */
    bool switchLaserOff();

    /** Changes the motor speed in rpm's (default 600rpm)
     * \return false on any error
     */
    bool setMotorSpeed(int motoSpeed_rpm);

    /** Ask to the device, and print to the debug stream, details about the
     * firmware version,serial number,...
     * \return false on any error
     */
    bool displayVersionInfo();

    /** Ask to the device, and print to the debug stream, details about the
     * sensor model.
     *  It also optionally saves all the information in an user supplied data
     * structure "out_data".
     * \return false on any error
     */
    bool displaySensorInfo(CHokuyoURG::TSensorInfo* out_data = nullptr);

    /** Start the continuous scanning mode, using parameters stored in the
     * object (loaded
     * from the .ini file). Maps to SCIP2.0 commands MD (no intensity) or ME
     * (intensity).
     * After this command the device will start to send scans until
     * switchLaserOff() is called.
     * \return false on any error
     */
    bool startScanningMode();

    /** Turns the laser on */
    void initialize() override;

    /** Parses the response from the device from raw bytes in m_rx_buffer, and
     * stored the received frame in m_rcv_data. Status codes are stored in
     * m_rcv_status0 and m_rcv_status1.
     * \return false on any error or if received frame is incomplete and needs
     * more input bytes.
     */
    bool parseResponse();

    /** Assures a minimum number of bytes in the input buffer, reading from the
     * serial port only if required.
     * \return false if the number of bytes are not available, even after
     * trying to fetch more data from the serial port.
     */
    bool ensureBufferHasBytes(const size_t nDesiredBytes);

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

    /** Destructor: turns the laser off */
    ~CHokuyoURG() override;

    /** 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) override;

    /** Enables the scanning mode (which may depend on the specific laser
     * device); this must be called before asking for observations to assure
     * that the protocol has been initializated.
     * \return If everything works "true", or "false" if there is any error.
     */
    bool turnOn() override;

    /** Disables the scanning mode (this can be used to turn the device in low
     * energy mode, if available)
     * \return If everything works "true", or "false" if there is any error.
     */
    bool turnOff() override;

    /** Empties the RX buffers of the serial port */
    void purgeBuffers();

    /** 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) { m_com_port = port_name; }
    /** Set the ip direction and port to connect using Ethernet communication */
    void setIPandPort(const std::string& ip, const unsigned int& port)
    {
        m_ip_dir = ip;
        m_port_dir = port;
    }

    /** Returns the currently set serial port \sa setSerialPort */
    const std::string getSerialPort() { return m_com_port; }
    /** If called (before calling "turnOn"), the field of view of the laser is
     * reduced to the given range (in radians), discarding the rest of measures.
     *  Call with "0" to disable this reduction again (the default).
     */
    void setReducedFOV(const double fov) { m_reduced_fov = fov; }
    /** Changes the high sensitivity mode (HS) (default: false)
     * \return false on any error
     */
    bool setHighSensitivityMode(bool enabled);

    /** If true scans will capture intensity. (default: false)
     * Should not be called while scanning.
     * \return false on any error
     */
    bool setIntensityMode(bool enabled);

    /** Set the skip scan count (0 means send all scans).
     * Must be set before initialize()
     */
    void setScanInterval(unsigned int skipScanCount);
    unsigned int getScanInterval() const;

    void sendCmd(const char* str);

   protected:
    /** temp buffer for incoming data packets */
    std::string m_rcv_data;
    char m_rcv_status0 = '\0', m_rcv_status1 = '\0';

    /** Returns true if there is a valid stream bound to the laser scanner,
     * otherwise it first try to open the serial port "m_com_port"
     */
    bool ensureStreamIsOpen();

    /** Called upon dtor, or when trying to recover from a disconnected sensor
     */
    void closeStreamConnection();

    /** Used to reduce artificially the interval of scan ranges. */
    double m_reduced_fov{0};

    /** 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. */
    std::string m_com_port{};

    /** If set to non-empty and m_port_dir too, the program will try to connect
     * to a Hokuyo using Ethernet communication */
    std::string m_ip_dir{};
    /** If set to non-empty and m_ip_dir too, the program will try to connect to
     * a Hokuyo using Ethernet communication */
    unsigned int m_port_dir{10940};

    /** The information gathered when the laser is first open */
    TSensorInfo m_sensor_info;

    /** Time of the first data packet, for synchronization purposes. */
    uint32_t m_timeStartUI{0};
    /** Counter to discard to first few packets before setting the
     * correspondence between device and computer timestamps. */
    int m_timeStartSynchDelay{0};
    mrpt::system::TTimeStamp m_timeStartTT;
    bool m_disable_firmware_timestamp{false};
    /** Get intensity from lidar scan (default: false) */
    bool m_intensity{false};
    unsigned int m_scan_interval{0};

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

};  // End of class

}  // namespace mrpt::hwdrivers