CEnoseModular.cpp

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

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

#include <mrpt/hwdrivers/CEnoseModular.h>
#include <mrpt/serialization/CArchive.h>
#include <mrpt/serialization/CMessage.h>
#include <mrpt/system/os.h>
#include <iostream>
#include <memory>
#include <thread>

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

IMPLEMENTS_GENERIC_SENSOR(CEnoseModular, mrpt::hwdrivers)

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

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

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

#ifdef _WIN32
    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 = std::make_unique<mrpt::comms::CSerialPort>();
        else
            m_stream_FTDI = std::make_unique<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::serialization::CMessage msg;
        bool time_out = false;
        mrpt::system::TTimeStamp t1 = mrpt::system::now();
        double time_out_val = 1;  // seconds

        auto arch = mrpt::serialization::archiveFrom(*comms);

        while (!arch.receiveMessage(msg) && !time_out)
        {
            if (mrpt::system::timeDifference(t1, mrpt::system::now()) >
                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 = TPose3D(
                    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 = TPose3D(0, 0, 0, 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 =
        std::make_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();
    }
}