CGyroKVHDSP3000.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/comms/CSerialPort.h>
#include <mrpt/hwdrivers/CGenericSensor.h>

#include <mrpt/obs/CObservationIMU.h>
#include <mrpt/poses/CPose3D.h>

namespace mrpt::hwdrivers
{
enum GYRO_MODE
{
    RATE,
    INCREMENTAL_ANGLE,
    INTEGRATED_ANGLE
};
/** A class for interfacing KVH DSP 3000 gyroscope with an assynchronous serial
 *communication (product SN : 02-1222-01).
 *  It uses a serial port connection to the device. The class implements the
 *generic sensor class.
 *  See also the application "rawlog-grabber" for a ready-to-use application to
 *gather data from the scanner.
 *   The generated observation is a CObservationIMU, but only the yaw angular
 *velocity and the absolute yaw position are
 *  are set in the vector CObservationIMU::rawMeasurements.
 *  The sensor process rate is imposed by hardware at 100Hz.
 *  For now, this sensor is only supported on posix system.
 *  \code
 *  PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
 * -------------------------------------------------------
 *   [supplied_section_name]
 *    process_rate = 100                ; MUST be 100 Hz.
 *    pose_x=0      ; Sensor 3D position relative to the robot (meters)
 *    pose_y=0
 *    pose_z=0
 *    pose_yaw=0    ; Angles in degrees
 *    pose_pitch=0
 *    pose_roll=0
 *    sensorLabel = <label> ; Label of the sensor
 *    COM_port_LIN  = /dev/ttyUSB0       ; COM PORT in LINUX
 *    operatingMode = <"rate"/"integrated", "incremental">  ; Default mode is
 *Rate.
 *  \endcode
 * In most of the communs applications, this class will be used as :
 * \code
 * CGyroKVHDSP3000 kvh;
 * /// ...
 * CConfigFile conf("conf.ini");
 * /// ...
 * kvh.loadConfig_sensorSpecific(conf, "KVH");
 * /// ...
 * while(1) {
 *  kvh.doProcess();
 *      TListObservations rateObs;
 *  kvh.getObservations(rateObs);
 *      // ....
 * \endcode
 * \ingroup mrpt_hwdrivers_grp
 */
class CGyroKVHDSP3000 : public hwdrivers::CGenericSensor
{
    DEFINE_GENERIC_SENSOR(CGyroKVHDSP3000)
   protected:
    /** This serial port will be attempted to be opened automatically when this
     * class is first used to request data from the device.
     * \sa comms::CSerialPort
     */
    int m_COMbauds{38400};
    std::string m_com_port;

    mrpt::poses::CPose3D m_sensorPose;

    /** Search the port where the sensor is located and connect to it
     */
    // bool searchPortAndConnect();

    /** The serial port connection */
    std::unique_ptr<mrpt::comms::CSerialPort> m_serialPort;
    GYRO_MODE m_mode{RATE};
    bool m_firstInteration{true};

    mrpt::obs::CObservationIMU::Ptr m_observationGyro;

   public:
    /** Constructor
     */
    CGyroKVHDSP3000();

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

    /** Destructor
     */
    ~CGyroKVHDSP3000() override;

    /** This method will be invoked at a minimum rate of "process_rate" (Hz)
     *  \exception This method must throw an exception with a descriptive
     * message if some critical error is found.
     */
    void doProcess() override;

    /** Turns on the KVH DSP 3000 device and configure it for getting
     * orientation data. you must have called loadConfig_sensorSpecific before
     * calling this function.
     */
    void initialize() override;
    /** Send to the sensor the command 'Z' wich reset the integrated angle. (in
     * both rate mode and incremental, this function has no effect) */
    void resetIncrementalAngle();
    void changeMode(GYRO_MODE _newMode);

};  // end of class

}  // namespace mrpt::hwdrivers