CRoboPeakLidar.cpp

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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          |
   +------------------------------------------------------------------------+ */

#include "hwdrivers-precomp.h"  // Precompiled headers

#include <mrpt/comms/CClientTCPSocket.h>
#include <mrpt/comms/CSerialPort.h>
#include <mrpt/hwdrivers/CRoboPeakLidar.h>
#include <mrpt/system/os.h>

IMPLEMENTS_GENERIC_SENSOR(CRoboPeakLidar, mrpt::hwdrivers)

#if MRPT_HAS_ROBOPEAK_LIDAR
#include "rplidar.h"  // RPLidar API
using namespace rp::standalone::rplidar;
#define RPLIDAR_DRV static_cast<RPlidarDriver*>(m_rplidar_drv)
#endif

using namespace mrpt::obs;
using namespace mrpt::hwdrivers;
using namespace mrpt::system;
using namespace mrpt::opengl;
using namespace std;

/*-------------------------------------------------------------
                        Constructor
-------------------------------------------------------------*/
CRoboPeakLidar::CRoboPeakLidar() : m_com_port("") { m_sensorLabel = "RPLidar"; }
/*-------------------------------------------------------------
                    ~CRoboPeakLidar
-------------------------------------------------------------*/
CRoboPeakLidar::~CRoboPeakLidar()
{
    turnOff();
    disconnect();
}

void CRoboPeakLidar::disconnect()
{
#if MRPT_HAS_ROBOPEAK_LIDAR
    RPlidarDriver::DisposeDriver(RPLIDAR_DRV);
    m_rplidar_drv = nullptr;
#endif
}

/*-------------------------------------------------------------
                        doProcessSimple
-------------------------------------------------------------*/
void CRoboPeakLidar::doProcessSimple(
    bool& outThereIsObservation,
    mrpt::obs::CObservation2DRangeScan& outObservation, bool& hardwareError)
{
#if MRPT_HAS_ROBOPEAK_LIDAR
    outThereIsObservation = false;
    hardwareError = false;

    // Bound?
    if (!checkCOMMs())
    {
        hardwareError = true;
        return;
    }

    rplidar_response_measurement_node_t nodes[360 * 2];
    size_t count = sizeof(nodes) / sizeof(nodes[0]);

    // Scan:
    const mrpt::system::TTimeStamp tim_scan_start = mrpt::system::now();
    u_result op_result = RPLIDAR_DRV->grabScanData(nodes, count);
    // const mrpt::system::TTimeStamp tim_scan_end = mrpt::system::now();
    // const double scan_duration =
    // mrpt::system::timeDifference(tim_scan_start,tim_scan_end);

    // Fill in scan data:
    if (op_result == RESULT_OK)
    {
        op_result = RPLIDAR_DRV->ascendScanData(nodes, count);
        if (op_result == RESULT_OK)
        {
            const size_t angle_compensate_nodes_count = 360;
            const size_t angle_compensate_multiple = 1;
            int angle_compensate_offset = 0;
            rplidar_response_measurement_node_t
                angle_compensate_nodes[angle_compensate_nodes_count];
            memset(
                angle_compensate_nodes, 0,
                angle_compensate_nodes_count *
                    sizeof(rplidar_response_measurement_node_t));

            outObservation.resizeScanAndAssign(
                angle_compensate_nodes_count, 0, false);

            for (size_t i = 0; i < count; i++)
            {
                if (nodes[i].distance_q2 != 0)
                {
                    auto angle =
                        (float)((nodes[i].angle_q6_checkbit >> RPLIDAR_RESP_MEASUREMENT_ANGLE_SHIFT) / 64.0f);
                    int angle_value = (int)(angle * angle_compensate_multiple);
                    if ((angle_value - angle_compensate_offset) < 0)
                        angle_compensate_offset = angle_value;
                    for (size_t j = 0; j < angle_compensate_multiple; j++)
                    {
                        angle_compensate_nodes
                            [angle_value - angle_compensate_offset + j] =
                                nodes[i];
                    }
                }
            }

            for (size_t i = 0; i < angle_compensate_nodes_count; i++)
            {
                const float read_value =
                    (float)angle_compensate_nodes[i].distance_q2 / 4.0f / 1000;
                outObservation.setScanRange(i, read_value);
                outObservation.setScanRangeValidity(i, (read_value > 0));
            }
        }
        else if (op_result == RESULT_OPERATION_FAIL)
        {
            // All the data is invalid, just publish them
            outObservation.resizeScanAndAssign(count, 0, false);
        }

        // Fill common parts of the obs:
        outObservation.timestamp = tim_scan_start;
        outObservation.rightToLeft = false;
        outObservation.aperture = 2 * M_PIf;
        outObservation.maxRange = 6.0;
        outObservation.stdError = 0.010f;
        outObservation.sensorPose = m_sensorPose;
        outObservation.sensorLabel = m_sensorLabel;

        // Do filter:
        C2DRangeFinderAbstract::filterByExclusionAreas(outObservation);
        C2DRangeFinderAbstract::filterByExclusionAngles(outObservation);
        // Do show preview:
        C2DRangeFinderAbstract::processPreview(outObservation);

        outThereIsObservation = true;
    }
    else
    {
        if (op_result == RESULT_OPERATION_TIMEOUT ||
            op_result == RESULT_OPERATION_FAIL)
        {
            // Error? Retry connection
            this->disconnect();
        }
    }

#endif
}

/*-------------------------------------------------------------
                        loadConfig_sensorSpecific
-------------------------------------------------------------*/
void CRoboPeakLidar::loadConfig_sensorSpecific(
    const mrpt::config::CConfigFileBase& configSource,
    const std::string& iniSection)
{
    m_sensorPose.setFromValues(
        configSource.read_float(iniSection, "pose_x", 0),
        configSource.read_float(iniSection, "pose_y", 0),
        configSource.read_float(iniSection, "pose_z", 0),
        DEG2RAD(configSource.read_float(iniSection, "pose_yaw", 0)),
        DEG2RAD(configSource.read_float(iniSection, "pose_pitch", 0)),
        DEG2RAD(configSource.read_float(iniSection, "pose_roll", 0)));

#ifdef _WIN32
    m_com_port =
        configSource.read_string(iniSection, "COM_port_WIN", m_com_port, true);
#else
    m_com_port =
        configSource.read_string(iniSection, "COM_port_LIN", m_com_port, true);
#endif

    // Parent options:
    this->loadCommonParams(configSource, iniSection);
}

/*-------------------------------------------------------------
                        turnOn
-------------------------------------------------------------*/
bool CRoboPeakLidar::turnOn()
{
#if MRPT_HAS_ROBOPEAK_LIDAR
    bool ret = checkCOMMs();
    if (ret && RPLIDAR_DRV) RPLIDAR_DRV->startMotor();
    return ret;
#else
    THROW_EXCEPTION("MRPT has been compiled without RPLidar support!");
#endif
}

/*-------------------------------------------------------------
                        turnOff
-------------------------------------------------------------*/
bool CRoboPeakLidar::turnOff()
{
#if MRPT_HAS_ROBOPEAK_LIDAR
    if (RPLIDAR_DRV)
    {
        RPLIDAR_DRV->stop();
        RPLIDAR_DRV->stopMotor();
    }
    return true;
#else
    THROW_EXCEPTION("MRPT has been compiled without RPLidar support!");
#endif
}

/** Returns true if the device is connected & operative */
bool CRoboPeakLidar::getDeviceHealth() const
{
#if MRPT_HAS_ROBOPEAK_LIDAR
    if (!RPLIDAR_DRV) return false;

    rplidar_response_device_health_t healthinfo;

    u_result op_result = RPLIDAR_DRV->getHealth(healthinfo);
    if (IS_OK(op_result))
    {
        printf(
            "[CRoboPeakLidar] RPLidar health status : %d\n", healthinfo.status);
        if (healthinfo.status != RPLIDAR_STATUS_OK)
        {
            fprintf(
                stderr,
                "[CRoboPeakLidar] Error, rplidar internal error detected. "
                "Please reboot the device to retry.\n");
            return false;
        }
    }
    else
    {
        fprintf(
            stderr,
            "[CRoboPeakLidar] Error, cannot retrieve rplidar health code: %x\n",
            op_result);
        return false;
    }

    return true;
#else
    THROW_EXCEPTION("MRPT has been compiled without RPLidar support!");
#endif
}

/*-------------------------------------------------------------
                        checkCOMMs
-------------------------------------------------------------*/
bool CRoboPeakLidar::checkCOMMs()
{
    MRPT_START
#if MRPT_HAS_ROBOPEAK_LIDAR
    if (RPLIDAR_DRV) return true;

    // create the driver instance
    m_rplidar_drv =
        RPlidarDriver::CreateDriver(RPlidarDriver::DRIVER_TYPE_SERIALPORT);
    ASSERTMSG_(m_rplidar_drv, "Create Driver failed.");

    // Is it COMX, X>4? ->  "\\.\COMX"
    if (m_com_port.size() >= 3)
    {
        if (tolower(m_com_port[0]) == 'c' && tolower(m_com_port[1]) == 'o' &&
            tolower(m_com_port[2]) == 'm')
        {
            // Need to add "\\.\"?
            if (m_com_port.size() > 4 || m_com_port[3] > '4')
                m_com_port = std::string("\\\\.\\") + m_com_port;
        }
    }

    // make connection...
    if (IS_FAIL(RPLIDAR_DRV->connect(
            m_com_port.c_str(), (_u32)m_com_port_baudrate)))
    {
        fprintf(
            stderr,
            "[CRoboPeakLidar] Error, cannot bind to the specified serial port "
            "%s\n",
            m_com_port.c_str());
        return false;
    }

    rplidar_response_device_info_t devinfo;
    if (IS_FAIL(RPLIDAR_DRV->getDeviceInfo(devinfo)))
    {
        return false;
    }

    if (m_verbose)
    {
        printf(
            "[CRoboPeakLidar] Connection established:\n"
            "Firmware version: %u\n"
            "Hardware version: %u\n"
            "Model: %u\n"
            "Serial: ",
            (unsigned int)devinfo.firmware_version,
            (unsigned int)devinfo.hardware_version,
            (unsigned int)devinfo.model);

        for (unsigned char i : devinfo.serialnum) printf("%02X", i);
        printf("\n");
    }

    // check health:
    if (!getDeviceHealth()) return false;

    // start scan...
    u_result res = RPLIDAR_DRV->startScan();
    if (IS_FAIL(res))
    {
        fprintf(
            stderr, "[CRoboPeakLidar] Error starting scanning mode: %x\n", res);
        return false;
    }

    return true;
#else
    THROW_EXCEPTION("MRPT has been compiled without RPLidar support!");
#endif
    MRPT_END
}

/*-------------------------------------------------------------
                        initialize
-------------------------------------------------------------*/
void CRoboPeakLidar::initialize()
{
    if (!checkCOMMs())
        throw std::runtime_error(
            "[CRoboPeakLidar::initialize] Error initializing RPLIDAR scanner.");
    if (!turnOn())
        throw std::runtime_error(
            "[CRoboPeakLidar::initialize] Error initializing RPLIDAR scanner.");
}

void CRoboPeakLidar::setSerialPort(const std::string& port_name)
{
    if (m_rplidar_drv)
        THROW_EXCEPTION("Can't change serial port while connected!");

    m_com_port = port_name;
}