CIMUXSens.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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 |
   +------------------------------------------------------------------------+ */

#ifndef CIMUXSens_H
#define CIMUXSens_H

#include <mrpt/hwdrivers/CGenericSensor.h>
#include <mrpt/comms/CSerialPort.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;
    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;
    void* /*CmtDeviceId */ m_deviceId_ptr;
    /** Timeout counter (for internal use only) */
    unsigned int m_toutCounter;

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

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

    /** Destructor
      */
    virtual ~CIMUXSens();

    /** 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();

    /** Turns on the xSens device and configure it for getting orientation data
     */
    void initialize();

};  // end of class

}
#endif