CIMUXSens.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/poses/CPose3D.h>

namespace mrpt::hwdrivers
{
/** A class for interfacing XSens 3rd generation Inertial Measuring Units
 *(IMUs), the "XSens MTi" model.
 *  It uses a serial port or USB-to-serial adapter to communicate to the
 *device, so no special drivers are needed.
 *  For the more recent 4th generation devices, see the class
 *mrpt::hwdrivers::CIMUXSens_MT4
 *
 *  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]
 *    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 (optional. If not
 *provided, the system will search the connected port)
 *     COM_port_WIN = COM1               ; COM PORT in Windows (optional. If not
 *provided, the system will search the connected port)
 *     baudRate                          ; Baudrate for communicating with the
 *COM port (mandatory for Linux)
 *                                          (for Windows, if COM_port_WIN is not
 *provided,
 *this
 *value is ignored)
 *  \endcode
 * \ingroup mrpt_hwdrivers_grp
 */
class CIMUXSens : public hwdrivers::CGenericSensor
{
    DEFINE_GENERIC_SENSOR(CIMUXSens)
   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{0};
    std::string m_com_port;
    uint64_t m_timeStartUI{};
    mrpt::system::TTimeStamp m_timeStartTT;

    mrpt::poses::CPose3D m_sensorPose;

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

    void* /*xsens::Cmt3 */ m_cmt3_ptr{nullptr};
    void* /*CmtDeviceId */ m_deviceId_ptr{nullptr};
    /** Timeout counter (for internal use only) */
    unsigned int m_toutCounter{0};

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

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

    /** Destructor
     */
    ~CIMUXSens() 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 xSens device and configure it for getting orientation data
     */
    void initialize() override;

};  // end of class

}  // namespace mrpt::hwdrivers