CImpinjRFID.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 CImpinjRFID_H
#define CImpinjRFID_H
 
#include <mrpt/hwdrivers/CGenericSensor.h>
#include <mrpt/obs/CObservationRFID.h>
#include <mrpt/config/CConfigFileBase.h>
 
#include <mrpt/comms/CClientTCPSocket.h>
#include <mrpt/comms/CServerTCPSocket.h>
#include <memory>
 
namespace mrpt::hwdrivers
{
/** This class implements an interface to an Impinj RFID reader. This object
 * connects to a program that does the actual communication with the receiver.
 * This is done because the manufacturer only provides libraries for C# and
 * Java. The program that runs the device must be started after this object
  */
class CImpinjRFID : public mrpt::hwdrivers::CGenericSensor
{
    DEFINE_GENERIC_SENSOR(CImpinjRFID)
 
   private:
    /** Poses (Antenna 1)
     */
    float pose_x_1, pose_y_1, pose_z_1, pose_yaw_1, pose_pitch_1, pose_roll_1;
 
    /** Poses (Antenna 2)
     */
    float pose_x_2, pose_y_2, pose_z_2, pose_yaw_2, pose_pitch_2, pose_roll_2;
 
    /** Server port
     */
    int port;
 
    /** IP of the module (usually 127.0.0.1)
     */
    std::string IPm;
 
    /** Reader name
     */
    std::string reader_name;
 
    /** Server socket (listens for the incoming connection)
     */
    std::unique_ptr<mrpt::comms::CServerTCPSocket> server;
 
    /** Client socket (handles the connection to the client)
     */
    std::unique_ptr<mrpt::comms::CClientTCPSocket> client;
 
    /** Driver executable path
     */
    std::string driver_path;
 
    /** Connection status
     */
    bool connected;
 
    /** start the external driver
     */
    void startDriver();
 
    static void dummy_startDriver(CImpinjRFID* o);
 
   public:
    /** Default constructor.
     */
    CImpinjRFID();
    virtual ~CImpinjRFID();
 
    /** Connect to the reader.
     */
    void connect();
 
    void doProcess();
 
    void initialize();
 
    void loadConfig_sensorSpecific(
        const mrpt::config::CConfigFileBase& configSource,
        const std::string& section);
 
    /** Gets the information of the tags as a timestamped observation
    * NOTE: Deprecated, use getObservations instead. See CGenericSensor
    * documentation. This function is kept for internal use of the module
    * \return Returns true if the observation was correct, and false otherwise
    * \sa mrpt::hwdrivers::CGenericSensor
    */
    bool getObservation(mrpt::obs::CObservationRFID& obs);
 
    /** Close the connection to the reader.
     */
    void closeReader();
};  // End of class def.
 
}
#endif