CSICKTim561Eth_2050101.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 _CSICKTIM561ETH_2050101_H__
#define _CSICKTIM561ETH_2050101_H__
 
#include <mrpt/hwdrivers/C2DRangeFinderAbstract.h>
#include <mrpt/comms/CClientTCPSocket.h>
 
namespace mrpt
{
namespace hwdrivers
{
class CSICKTim561Eth : public C2DRangeFinderAbstract
{
        DEFINE_GENERIC_SENSOR(CSICKTim561Eth)
   public:
        /** Constructor.
         * Note that there is default arguments, here you can customize IP Adress
         * and TCP Port of your device
         */
        CSICKTim561Eth(
                std::string _ip = std::string("192.168.0.1"),
                unsigned int _port = 2111);
        /** Deconstructor.
         * Close communication with the device, and free memory.
         */
        virtual ~CSICKTim561Eth();
 
        /** This function acquire a laser scan from the device. If an error occured,
         * hardwareError will be set to true.
         * The new laser scan will be stored in the outObservation argument.
         *
         * \exception This method throw exception if the frame received from the
         * TIM 561 contain the following bad parameters:
         * * Status is not OK
         * * Data in the scan aren't DIST1(may be RSSIx or DIST2).
         */
        void doProcessSimple(
                bool& outThereIsObservation,
                mrpt::obs::CObservation2DRangeScan& outObservation,
                bool& hardwareError);
 
        /**
         * This method must be called before trying to get a laser scan.
         */
        bool turnOn();
 
        /**
         * This method could be called manually to stop communication with the
         * device. Method is also called by destructor.
         */
        bool turnOff();
 
        /**
         * This method could be called manually to reboot the device.
         */
        bool rebootDev();
 
        /**
         * A method to set the sensor pose on the robot.
         * Equivalent to setting the sensor pose via loading it from a config file.
         */
        void setSensorPose(const mrpt::poses::CPose3D& _pose);
 
        /**
         * This method must be called periodically. Period depend on the
         * process_rate in the configuration file.
         */
        void doProcess();
 
        /** Initialize the sensor according to the parameters previously read
         * in the configuration file.
         */
        void initialize();
 
   private:
        std::string m_ip;
        unsigned int m_port;
        mrpt::comms::CClientTCPSocket m_client;
        bool m_turnedOn;
        std::string m_cmd;
        bool m_connected;
        unsigned int m_scanFrequency;  // Scanning Hertz
        double m_angleResolution;  // Degrees [0.0001, 1]
        double m_startAngle;  // the minimum startAngle is -45 degree
        double m_stopAngle;  // the maximum stopAngle is 225 degree
        mrpt::poses::CPose3D m_sensorPose;
        double m_maxRange;  // 10 meter is the range official suggested
        double m_beamApperture;  // the range bewteen m_startAngle to m_stopAngle
 
        void generateCmd(const char* cmd);  // According to communication protocol
        bool checkIsConnected();  // Check the status about Lidar connection
        bool decodeLogIn(char* msg);
        bool decodeScanCfg(std::istringstream& stream);
        bool decodeScan(
                char* buf, mrpt::obs::CObservation2DRangeScan& outObservation);
        void sendCommand(const char* cmd);
        void roughPrint(char* msg);
 
   protected:
        /** Load sensor pose on the robot, or keep the default sensor pose.
         */
        void loadConfig_sensorSpecific(
                const mrpt::config::CConfigFileBase& configSource,
                const std::string& iniSection);
};
}  // namespace hwdrivers
}  // namespace mrpt
 
#endif  // _CSICKTIM561ETH_2050101_H__