CIMUXSens.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/hwdrivers/CIMUXSens.h>
#include <mrpt/obs/CObservationIMU.h>

#include <iostream>
#include <thread>
IMPLEMENTS_GENERIC_SENSOR(CIMUXSens, mrpt::hwdrivers)

using namespace mrpt::obs;
using namespace mrpt::hwdrivers;
using namespace std::literals;

#if MRPT_HAS_xSENS_MT3
#include "xSens_MT3/cmt1.h"
#include "xSens_MT3/cmt2.h"
#include "xSens_MT3/cmt3.h"
#include "xSens_MT3/cmtdef.h"
#include "xSens_MT3/cmtmessage.h"
#include "xSens_MT3/cmtpacket.h"
#include "xSens_MT3/cmtscan.h"
#include "xSens_MT3/xsens_fifoqueue.h"
#include "xSens_MT3/xsens_janitors.h"
#include "xSens_MT3/xsens_list.h"
#include "xSens_MT3/xsens_std.h"
#include "xSens_MT3/xsens_time.h"
#endif

// Adaptors for the "void*" memory blocks:
#define cmt3 (*static_cast<xsens::Cmt3*>(m_cmt3_ptr))
#define deviceId (*static_cast<CmtDeviceId*>(m_deviceId_ptr))

// Include libraries in linking:
#if MRPT_HAS_xSENS_MT3
#ifdef _WIN32
// WINDOWS:
#if defined(_MSC_VER)
#pragma comment(lib, "SetupAPI.lib")
#endif
#endif  // _WIN32
#endif  // MRPT_HAS_xSENS_MT3

/*-------------------------------------------------------------
                    CIMUXSens
-------------------------------------------------------------*/
CIMUXSens::CIMUXSens() : m_com_port(), m_timeStartTT(), m_sensorPose()
{
    m_sensorLabel = "XSensMTi";
#if MRPT_HAS_xSENS_MT3
    m_cmt3_ptr = new xsens::Cmt3[1];
    m_deviceId_ptr = new CmtDeviceId[1];

#else
    THROW_EXCEPTION(
        "MRPT has been compiled with 'BUILD_XSENS_MT3'=OFF, so this class "
        "cannot be used.");
#endif
}

/*-------------------------------------------------------------
                    ~CIMUXSens
-------------------------------------------------------------*/
CIMUXSens::~CIMUXSens()
{
#if MRPT_HAS_xSENS_MT3
    cmt3.closePort();

    delete[] & cmt3;
    m_cmt3_ptr = nullptr;
    delete[] & deviceId;
    m_deviceId_ptr = nullptr;
#endif
}

/*-------------------------------------------------------------
                    doProcess
-------------------------------------------------------------*/
void CIMUXSens::doProcess()
{
#if MRPT_HAS_xSENS_MT3

    if (m_state == ssError)
    {
        std::this_thread::sleep_for(200ms);
        initialize();
    }

    if (m_state == ssError) return;

    XsensResultValue res;
    unsigned int cont = 0;

    do
    {
        CmtTimeStamp nowUI;  // ms

        xsens::Packet packet(1 /*NDevices*/, cmt3.isXm() /*Is Bus master*/);

        res = cmt3.waitForDataMessage(&packet);

        if (res == XRV_OK)
        {
            // Data properly collected
            nowUI = packet.getRtc();
            m_state = ssWorking;

            CObservationIMU::Ptr obs = std::make_shared<CObservationIMU>();

            // ANGLE MEASUREMENTS:
            if (packet.containsOriEuler())
            {
                CmtEuler euler_data = packet.getOriEuler();

                obs->rawMeasurements[IMU_YAW] = DEG2RAD(euler_data.m_yaw);
                obs->dataIsPresent[IMU_YAW] = true;
                obs->rawMeasurements[IMU_PITCH] = DEG2RAD(euler_data.m_pitch);
                obs->dataIsPresent[IMU_PITCH] = true;
                obs->rawMeasurements[IMU_ROLL] = DEG2RAD(euler_data.m_roll);
                obs->dataIsPresent[IMU_ROLL] = true;
            }

            // ACCELEROMETERS MEASUREMENTS:
            if (packet.containsCalAcc())
            {
                CmtVector acc_data = packet.getCalAcc();  // getRawAcc();

                obs->rawMeasurements[IMU_X_ACC] = acc_data.m_data[0];
                obs->dataIsPresent[IMU_X_ACC] = true;
                obs->rawMeasurements[IMU_Y_ACC] = acc_data.m_data[1];
                obs->dataIsPresent[IMU_Y_ACC] = true;
                obs->rawMeasurements[IMU_Z_ACC] = acc_data.m_data[2];
                obs->dataIsPresent[IMU_Z_ACC] = true;
            }

            // GYROSCOPES MEASUREMENTS:
            if (packet.containsCalGyr())
            {
                CmtVector gir_data = packet.getCalGyr();  // getRawGyr();

                obs->rawMeasurements[IMU_YAW_VEL] = gir_data.m_data[2];
                obs->dataIsPresent[IMU_YAW_VEL] = true;
                obs->rawMeasurements[IMU_PITCH_VEL] = gir_data.m_data[1];
                obs->dataIsPresent[IMU_PITCH_VEL] = true;
                obs->rawMeasurements[IMU_ROLL_VEL] = gir_data.m_data[0];
                obs->dataIsPresent[IMU_ROLL_VEL] = true;
            }

            // TimeStamp
            uint64_t AtUI = 0;
            if (m_timeStartUI == 0)
            {
                m_timeStartUI = nowUI;
                m_timeStartTT = mrpt::system::now();
            }
            else
                AtUI = nowUI - m_timeStartUI;  // ms

            obs->timestamp = m_timeStartTT + std::chrono::milliseconds(AtUI);
            obs->sensorPose = m_sensorPose;
            obs->sensorLabel = m_sensorLabel;

            appendObservation(obs);
            m_toutCounter = 0;

        }  // end if XRV_OK

        if (res == XRV_TIMEOUT)
        {
            if (++m_toutCounter > 3)
            {
                m_toutCounter = 0;
                m_state = ssError;
                if (cmt3.isPortOpen()) cmt3.closePort();

                std::cerr << "[CIMUXSens::doProcess()] Error: No data "
                             "available [XRV_TIMEOUT]"
                          << std::endl;
            }
        }  // end if XRV_TIMEOUT

        if (res == XRV_TIMEOUTNODATA)
        {
            //          m_state         = ssError;
            //          m_timeStartUI   = 0;
            //          if( cmt3.isPortOpen() )
            //              cmt3.closePort();
            //          std::cerr << "[CIMUXSens::doProcess()] Error: No data
            // available [XRV_TIMEOUTNODATA]" << std::endl;
        }  // end if XRV_TIMEOUTNODATA
    } while (res == XRV_OK && cont++ < 30);

#else
    THROW_EXCEPTION(
        "MRPT has been compiled with 'BUILD_XSENS_MT3'=OFF, so this class "
        "cannot be used.");
#endif
}

/*-------------------------------------------------------------
                    lookForPort
-------------------------------------------------------------*/
bool CIMUXSens::searchPortAndConnect()
{
#if MRPT_HAS_xSENS_MT3
    uint32_t baudrate;
    if (cmt3.getBaudrate(baudrate) == XRV_OK) return true;

    XsensResultValue res;
    xsens::List<CmtPortInfo> portInfo;
    unsigned long portCount = 0;
    unsigned short mtCount = 0;

    if (m_com_port.empty())
    {  // Scan COM ports
        std::cout << "Scanning for connected Xsens devices..." << std::endl;
        xsens::cmtScanPorts(portInfo);
        portCount = portInfo.length();
        std::cout << "Done" << std::endl;
        if (portCount == 0)
        {
            std::cout << "No xSens device found" << std::endl;
            m_state = ssError;
            return false;

        }  // end if (error)
    }  // end if
    else  // Port defined by user in .ini file
    {
        CmtPortInfo pInfo;
        pInfo.m_baudrate = m_COMbauds;
        strcpy(
            pInfo.m_portName,
            m_com_port.c_str());  // m_portNr       = (unsigned char)m_com_port;
        portInfo.append(pInfo);
        portCount++;
    }  // end else

    ASSERT_(portCount == 1);
    std::cout << "Using COM port "
              << portInfo[0].m_portName /*(long)portInfo[0].m_portNr*/ << " at "
              << portInfo[0].m_baudrate << " baud" << std::endl;
    std::cout << "Opening port..." << std::endl;
    // open the port which the device is connected to and connect at the
    // device's baudrate.
    res = cmt3.openPort(portInfo[0].m_portName, portInfo[0].m_baudrate);
    if (res != XRV_OK)
    {
        std::cerr << "COM Port could not be opened" << std::endl;
        m_state = ssError;
        return false;
    }
    std::cout << "done" << std::endl;

    // get the Mt sensor count.
    std::cout
        << "Retrieving MotionTracker count (excluding attached Xbus Master(s))"
        << std::endl;
    mtCount = cmt3.getMtCount();
    std::cout << "MotionTracker count: " << mtCount << std::endl;

    ASSERT_(mtCount == 1);

    // retrieve the device IDs
    std::cout << "Retrieving MotionTracker device ID" << std::endl;
    res = cmt3.getDeviceId(mtCount, deviceId);
    std::cout << "Device ID at busId 1: " << (long)deviceId
              << std::endl;  // printf("Device ID at busId 1: %08x\n",(long)
    // deviceId);
    if (res != XRV_OK)
    {
        std::cerr << "Device ID could not be gathered" << std::endl;
        m_state = ssError;
        return false;
    }

    return true;
#else
    return false;
#endif
}  // end lookForPort

/*-------------------------------------------------------------
                    initialize
-------------------------------------------------------------*/
void CIMUXSens::initialize()
{
#if MRPT_HAS_xSENS_MT3

    XsensResultValue res;

    if (cmt3.isPortOpen()) return;

    m_state = ssInitializing;

    // Search for the COM PORT and connect
    if (!searchPortAndConnect())
    {
        m_state = ssError;
        std::cerr << "Error Could not initialize the device" << std::endl;
        return;
    }

    std::cout << "xSens IMU detected and connected" << std::endl;
    CmtOutputMode mode = CMT_OUTPUTMODE_ORIENT | CMT_OUTPUTMODE_CALIB;
    CmtOutputSettings settings = CMT_OUTPUTSETTINGS_ORIENTMODE_EULER |
                                 CMT_OUTPUTSETTINGS_TIMESTAMP_SAMPLECNT |
                                 CMT_OUTPUTSETTINGS_CALIBMODE_ACCGYR;

    // set the sensor to config state
    res = cmt3.gotoConfig();
    if (res != XRV_OK)
    {
        m_state = ssError;  // EXIT_ON_ERROR(res,"gotoConfig");
        std::cerr << "An error ocurred when setting the device to config mode"
                  << std::endl;
        return;
    }

    unsigned short sampleFreq;
    sampleFreq = cmt3.getSampleFrequency();

    // set the device output mode for the device(s)
    std::cout << "Configuring mode selection" << std::endl;
    CmtDeviceMode deviceMode(mode, settings, sampleFreq);
    res = cmt3.setDeviceMode(deviceMode, true, deviceId);
    if (res != XRV_OK)
    {
        m_state = ssError;  // EXIT_ON_ERROR(res,"setDeviceMode");
        std::cerr << "An error ocurred when configuring the device"
                  << std::endl;
        return;
    }

    // start receiving data
    res = cmt3.gotoMeasurement();
    if (res != XRV_OK)
    {
        m_state = ssError;  // EXIT_ON_ERROR(res,"gotoMeasurement");
        std::cerr
            << "An error ocurred when setting the device to measurement mode"
            << std::endl;
        return;
    }

    std::cout << "Getting initial TimeStamp" << std::endl;
    // Get initial TimeStamp
    xsens::Packet packet(1 /*NDevices*/, cmt3.isXm() /*Is Bus master*/);
    do
    {
        res = cmt3.waitForDataMessage(&packet);
        if (res == XRV_OK)
        {
            m_timeStartUI = (uint64_t)packet.getRtc();
            m_timeStartTT = mrpt::system::now();
        }  // end if
    } while (res != XRV_OK);

    std::cout << "Gathering data" << std::endl;
    m_state = ssWorking;

#else
    THROW_EXCEPTION(
        "MRPT has been compiled with 'BUILD_XSENS_MT3'=OFF, so this class "
        "cannot be used.");
#endif
}

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

    m_COMbauds =
        configSource.read_int(iniSection, "baudRate", m_COMbauds, false);

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