CEnoseModular.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

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

#include <mrpt/system/os.h>
#include <mrpt/hwdrivers/CEnoseModular.h>
#include <mrpt/utils/CMessage.h>

#include <thread>

using namespace mrpt::utils;
using namespace mrpt::math;
using namespace mrpt::obs;
using namespace mrpt::poses;
using namespace mrpt::hwdrivers;
using namespace std;

IMPLEMENTS_GENERIC_SENSOR(CEnoseModular, mrpt::hwdrivers)

/*-------------------------------------------------------------
                                        CEnoseModular
-------------------------------------------------------------*/
CEnoseModular::CEnoseModular()
        : m_usbSerialNumber("ENOSE002"), m_COM_port(), m_COM_baud(115200)
{
        m_sensorLabel = "EnoseModular";
        first_reading = true;
}

/*-------------------------------------------------------------
                                        loadConfig_sensorSpecific
-------------------------------------------------------------*/
void CEnoseModular::loadConfig_sensorSpecific(
        const mrpt::utils::CConfigFileBase& configSource,
        const std::string& iniSection)
{
        MRPT_START

        m_usbSerialNumber =
                configSource.read_string(iniSection, "USB_serialname", "", false);

#ifdef MRPT_OS_WINDOWS
        m_COM_port = configSource.read_string(iniSection, "COM_port_WIN", "COM1");
#else
        m_COM_port =
                configSource.read_string(iniSection, "COM_port_LIN", m_COM_port);
#endif
        m_COM_baud =
                configSource.read_uint64_t(iniSection, "COM_baudRate", m_COM_baud);

        MRPT_END
}

/*-------------------------------------------------------------
                                        checkConnectionAndConnect
-------------------------------------------------------------*/
CStream* CEnoseModular::checkConnectionAndConnect()
{
        // Make sure one of the two possible pipes is open:
        if (!m_stream_FTDI && !m_stream_SERIAL)
        {
                if (!m_COM_port.empty())
                        m_stream_SERIAL.reset(new mrpt::comms::CSerialPort);
                else
                        m_stream_FTDI.reset(new mrpt::comms::CInterfaceFTDI);
        }

        if (m_stream_FTDI)
        {  // FTDI pipe ==================
                if (m_stream_FTDI->isOpen()) return m_stream_FTDI.get();
                try
                {
                        m_stream_FTDI->OpenBySerialNumber(m_usbSerialNumber);
                        std::this_thread::sleep_for(10ms);
                        m_stream_FTDI->Purge();
                        std::this_thread::sleep_for(10ms);
                        m_stream_FTDI->SetLatencyTimer(1);
                        m_stream_FTDI->SetTimeouts(10, 100);
                        return m_stream_FTDI.get();
                }
                catch (...)
                {  // Error opening device:
                        m_stream_FTDI->Close();
                        return nullptr;
                }
        }
        else
        {  // Serial pipe ==================
                ASSERT_(m_stream_SERIAL)
                if (m_stream_SERIAL->isOpen()) return m_stream_SERIAL.get();
                try
                {
                        m_stream_SERIAL->open(m_COM_port);
                        m_stream_SERIAL->setConfig(m_COM_baud);
                        // m_stream_SERIAL->setTimeouts(25,1,100, 1,20);
                        m_stream_SERIAL->setTimeouts(50, 1, 100, 1, 20);
                        std::this_thread::sleep_for(10ms);
                        m_stream_SERIAL->purgeBuffers();
                        std::this_thread::sleep_for(10ms);
                        return m_stream_SERIAL.get();
                }
                catch (...)
                {  // Error opening device:
                        m_stream_SERIAL->close();
                        return nullptr;
                }
        }
}

/*-------------------------------------------------------------
                                        getObservation
-------------------------------------------------------------*/
bool CEnoseModular::getObservation(mrpt::obs::CObservationGasSensors& obs)
{
        try
        {
                // Connected?
                CStream* comms = checkConnectionAndConnect();

                if (!comms)
                {
                        cout << "ERORR: Problem connecting to Device." << endl;
                        return false;
                }

                CObservationGasSensors::TObservationENose newRead;
                obs.m_readings.clear();

                //---------------------------- Enose Modular FRAME
                //--------------------------------------------------
                // Wait for e-nose frame:       <0x69><0x91><lenght><body><0x96> "Bytes"
                // Where <body> = <temp>[<SensorID_H><SensorID_L><Sensor_Value>] x
                // N_senosrs
                // Modular-nose provides a 4B+body frame lenght

                mrpt::utils::CMessage msg;
                bool time_out = false;
                mrpt::system::TTimeStamp t1 = mrpt::system::getCurrentLocalTime();
                double time_out_val = 1;  // seconds

                while (!comms->receiveMessage(msg) && !time_out)
                {
                        if (mrpt::system::timeDifference(
                                        t1, mrpt::system::getCurrentLocalTime()) > time_out_val)
                                time_out = true;
                }

                if (time_out)
                {
                        cout << "[CEnoseModular - getObservation] measurement Timed-Out"
                                 << endl;
                        return false;
                }

                if (msg.content.size() > 0)
                {
                        // Each sensor reading is composed of 3 Bytes
                        // [<SensorID_H><SensorID_L><Sensor_Value>]
                        ASSERT_((msg.content.size() - 1) % 3 == 0)
                        size_t numSensors = (msg.content.size() - 1) / 3;

                        // Prepare the Enose observation
                        newRead.sensorTypes.clear();
                        newRead.readingsVoltage.clear();
                        newRead.hasTemperature = true;
                        newRead.isActive = true;

                        // Do we have the sensor position?
                        if (enose_poses_x.size() != 0)
                        {
                                newRead.eNosePoseOnTheRobot = CPose3D(
                                        enose_poses_x[0], enose_poses_y[0], enose_poses_z[0],
                                        enose_poses_yaw[0], enose_poses_pitch[0],
                                        enose_poses_roll[0]);
                        }
                        else
                                newRead.eNosePoseOnTheRobot = CPose3D(0, 0, 0);

                        // Get Temperature (degrees C)
                        newRead.temperature = msg.content[0] * 1.65214 - 277.74648;

                        // process all sensors
                        for (size_t idx = 0; idx < numSensors; idx++)
                        {
                                // Copy ID (2 BYTES) To integer
                                int sensorType_temp = 0;
                                // memcpy( &sensorType, &msg.content[idx*3+1],
                                // 2*sizeof(msg.content[0]) );
                                memcpy(
                                        &sensorType_temp, &msg.content[idx * 3 + 1],
                                        sizeof(msg.content[0]));
                                int sensorType = sensorType_temp << (8);
                                memcpy(
                                        &sensorType, &msg.content[idx * 3 + 2],
                                        sizeof(msg.content[0]));

                                // Add sensor Type (ID)
                                newRead.sensorTypes.push_back(sensorType);

                                // Transform from ADC value[8bits] to [0-0.6] volt range:
                                newRead.readingsVoltage.push_back(
                                        (msg.content[idx * 3 + 3] * 0.6f) / 255.0f);
                        }

                        // Purge buffers
                        purgeBuffers();

                        // Add data to observation:
                        obs.m_readings.push_back(newRead);
                        obs.sensorLabel = m_sensorLabel;
                        obs.timestamp = mrpt::system::getCurrentTime();
                        return !obs.m_readings.empty();  // Done OK!
                }
                else
                {
                        cout << "Message was empty" << endl;
                        return false;
                }
        }
        catch (exception& e)
        {
                cerr << "[CEnoseModular::getObservation] Returning false due to "
                                "exception: "
                         << endl;
                cerr << e.what() << endl;
                return false;
        }
        catch (...)
        {
                return false;
        }
}

/*-------------------------------------------------------------
                                        doProcess
-------------------------------------------------------------*/
/** This method should be called periodically (at least at 1Hz to capture ALL
* the real-time data)
*  It is thread safe, i.e. you can call this from one thread, then to other
* methods from other threads.
*/
void CEnoseModular::doProcess()
{
        CObservationGasSensors::Ptr obs =
                mrpt::make_aligned_shared<CObservationGasSensors>();

        if (getObservation(*obs))
        {
                m_state = ssWorking;
                appendObservation(obs);
        }
        else
        {
                m_state = ssError;
                cout << "No observation received from the USB board!" << endl;
                // THROW_EXCEPTION("No observation received from the USB board!");
        }
}

/*-------------------------------------------------------------
                                                purgeBuffers
-------------------------------------------------------------*/
void CEnoseModular::purgeBuffers()
{
        if (!checkConnectionAndConnect()) return;

        if (m_stream_FTDI)
        {  // FTDI pipe
                m_stream_FTDI->Purge();
        }
        else
        {  // Serial pipe
                m_stream_SERIAL->purgeBuffers();
        }
}