CImpinjRFID.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/config/CConfigFileBase.h>
#include <mrpt/hwdrivers/CGenericSensor.h>
#include <mrpt/obs/CObservationRFID.h>

#include <mrpt/comms/CClientTCPSocket.h>
#include <mrpt/comms/CServerTCPSocket.h>
#include <memory>

namespace mrpt::hwdrivers
{
/** This class implements an interface to an Impinj RFID reader. This object
 * connects to a program that does the actual communication with the receiver.
 * This is done because the manufacturer only provides libraries for C# and
 * Java. The program that runs the device must be started after this object
 */
class CImpinjRFID : public mrpt::hwdrivers::CGenericSensor
{
    DEFINE_GENERIC_SENSOR(CImpinjRFID)

   private:
    /** Poses (Antenna 1)
     */
    float pose_x_1, pose_y_1, pose_z_1, pose_yaw_1, pose_pitch_1, pose_roll_1;

    /** Poses (Antenna 2)
     */
    float pose_x_2, pose_y_2, pose_z_2, pose_yaw_2, pose_pitch_2, pose_roll_2;

    /** Server port
     */
    int port;

    /** IP of the module (usually 127.0.0.1)
     */
    std::string IPm;

    /** Reader name
     */
    std::string reader_name;

    /** Server socket (listens for the incoming connection)
     */
    std::unique_ptr<mrpt::comms::CServerTCPSocket> server;

    /** Client socket (handles the connection to the client)
     */
    std::unique_ptr<mrpt::comms::CClientTCPSocket> client;

    /** Driver executable path
     */
    std::string driver_path;

    /** Connection status
     */
    bool connected;

    /** start the external driver
     */
    void startDriver();

    static void dummy_startDriver(CImpinjRFID* o);

   public:
    /** Default constructor.
     */
    CImpinjRFID();
    ~CImpinjRFID() override;

    /** Connect to the reader.
     */
    void connect();

    void doProcess() override;

    void initialize() override;

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

    /** Gets the information of the tags as a timestamped observation
     * NOTE: Deprecated, use getObservations instead. See CGenericSensor
     * documentation. This function is kept for internal use of the module
     * \return Returns true if the observation was correct, and false otherwise
     * \sa mrpt::hwdrivers::CGenericSensor
     */
    bool getObservation(mrpt::obs::CObservationRFID& obs);

    /** Close the connection to the reader.
     */
    void closeReader();
};  // End of class def.

}  // namespace mrpt::hwdrivers