CHokuyoURG.cpp

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/* +------------------------------------------------------------------------+
   |                     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/comms/CClientTCPSocket.h>
#include <mrpt/comms/CSerialPort.h>
#include <mrpt/hwdrivers/CHokuyoURG.h>
#include <mrpt/opengl/CAxis.h>
#include <mrpt/opengl/CPlanarLaserScan.h>  // in library mrpt-maps
#include <mrpt/system/os.h>

IMPLEMENTS_GENERIC_SENSOR(CHokuyoURG, mrpt::hwdrivers)

using namespace mrpt::obs;
using namespace mrpt::hwdrivers;
using namespace mrpt::comms;
using namespace mrpt::system;
using namespace mrpt::opengl;
using namespace std;

const int MINIMUM_PACKETS_TO_SET_TIMESTAMP_REFERENCE = 10;

CHokuyoURG::CHokuyoURG() : m_rx_buffer(40000) { m_sensorLabel = "Hokuyo"; }

CHokuyoURG::~CHokuyoURG()
{
    closeStreamConnection();
    m_win.reset();
}

void CHokuyoURG::closeStreamConnection()
{
    if (m_stream)
    {
        turnOff();

        if (m_I_am_owner_serial_port) delete m_stream;
        m_stream = nullptr;
    }
}

void CHokuyoURG::sendCmd(const char* str)
{
    MRPT_START
    ASSERT_(str != nullptr);
    ASSERT_(m_stream != nullptr);
    const size_t N = strlen(str);
    const size_t nWriten = m_stream->Write(str, N);
    ASSERT_EQUAL_(nWriten, N);

    MRPT_LOG_DEBUG_STREAM("[Hokuyo] sendCmd(): `" << str << "`");

    m_lastSentMeasCmd = std::string(str);  // for echo verification
    MRPT_END
}

void CHokuyoURG::doProcessSimple(
    bool& outThereIsObservation,
    mrpt::obs::CObservation2DRangeScan& outObservation, bool& hardwareError)
{
    outThereIsObservation = false;
    hardwareError = false;

    // Bound? If not, connect to the device and set it up (again) in
    // continuous read mode:
    if (!ensureStreamIsOpen())
    {
        m_timeStartUI = 0;
        m_timeStartSynchDelay = 0;
        hardwareError = true;
        return;
    }

    // Wait for a message:
    char rcv_status0, rcv_status1;
    int nRanges = m_lastRange - m_firstRange + 1;
    int expectedSize = nRanges * 3 + 4;
    if (m_intensity) expectedSize += nRanges * 3;

    m_rcv_data.clear();
    m_rcv_data.reserve(expectedSize + 1000);

    m_state = ssWorking;
    if (!receiveResponse(rcv_status0, rcv_status1))
    {
        if (!internal_notifyNoScanReceived())
        {
            // It seems the sensor needs to be reseted (?), let this know
            // to the caller:
            m_state = ssError;
            hardwareError = true;

            // And on our side, close the connection to ensure initialization
            // is called again to set-up the laser in the next call to
            // ensureStreamIsOpen() above.
            closeStreamConnection();

            return;
        }

        // No new data
        return;
    }

    // DECODE:
    if (rcv_status0 != '0' && rcv_status0 != '9')
    {
        hardwareError = true;
        return;
    }

    // -----------------------------------------------
    //   Extract the observation:
    // -----------------------------------------------
    outObservation.timestamp = mrpt::system::now();

    if ((size_t)expectedSize != m_rcv_data.size())
    {
        MRPT_LOG_ERROR_STREAM(
            "[CHokuyoURG::doProcess] ERROR: Expected "
            << expectedSize << " data bytes, received " << m_rcv_data.size()
            << "instead!");
        hardwareError = true;
        return;
    }
    // Delay the sync of timestamps due to instability in the constant rate
    // during the first few packets.
    bool do_timestamp_sync = !m_disable_firmware_timestamp;
    if (do_timestamp_sync &&
        m_timeStartSynchDelay < MINIMUM_PACKETS_TO_SET_TIMESTAMP_REFERENCE)
    {
        do_timestamp_sync = false;
        m_timeStartSynchDelay++;
    }

    if (do_timestamp_sync)
    {
        // Extract the timestamp of the sensor:
        uint32_t nowUI = ((m_rcv_data[0] - 0x30) << 18) +
                         ((m_rcv_data[1] - 0x30) << 12) +
                         ((m_rcv_data[2] - 0x30) << 6) + (m_rcv_data[3] - 0x30);

        uint32_t AtUI = 0;
        if (m_timeStartUI == 0)
        {
            m_timeStartUI = nowUI;
            m_timeStartTT = mrpt::system::now();
        }
        else
            AtUI = nowUI - m_timeStartUI;

        auto AtDO = std::chrono::milliseconds(AtUI);
        outObservation.timestamp = m_timeStartTT + AtDO;
    }

    // And the scan ranges:
    outObservation.rightToLeft = true;

    outObservation.aperture =
        nRanges * 2 * M_PI / m_sensor_info.scans_per_360deg;

    outObservation.maxRange = m_sensor_info.d_max;
    outObservation.stdError = 0.010f;
    outObservation.sensorPose = m_sensorPose;
    outObservation.sensorLabel = m_sensorLabel;

    outObservation.resizeScan(nRanges);
    char* ptr = (char*)&m_rcv_data[4];

    if (m_intensity) outObservation.setScanHasIntensity(true);

    for (int i = 0; i < nRanges; i++)
    {
        int b1 = (*ptr++) - 0x30;
        int b2 = (*ptr++) - 0x30;
        int b3 = (*ptr++) - 0x30;

        int range_mm = ((b1 << 12) | (b2 << 6) | b3);

        outObservation.setScanRange(i, range_mm * 0.001f);
        outObservation.setScanRangeValidity(
            i, range_mm >= 20 &&
                   (outObservation.scan[i] <= outObservation.maxRange));

        if (m_intensity)
        {
            int b4 = (*ptr++) - 0x30;
            int b5 = (*ptr++) - 0x30;
            int b6 = (*ptr++) - 0x30;
            outObservation.setScanIntensity(i, ((b4 << 12) | (b5 << 6) | b6));
        }
    }

    // Do filter:
    C2DRangeFinderAbstract::filterByExclusionAreas(outObservation);
    C2DRangeFinderAbstract::filterByExclusionAngles(outObservation);
    // Do show preview:
    C2DRangeFinderAbstract::processPreview(outObservation);

    outThereIsObservation = true;
    internal_notifyGoodScanNow();
}

/*-------------------------------------------------------------
                        loadConfig_sensorSpecific
-------------------------------------------------------------*/
void CHokuyoURG::loadConfig_sensorSpecific(
    const mrpt::config::CConfigFileBase& configSource,
    const std::string& iniSection)
{
    m_reduced_fov =
        DEG2RAD(configSource.read_float(iniSection, "reduced_fov", 0)),

    m_motorSpeed_rpm =
        configSource.read_int(iniSection, "HOKUYO_motorSpeed_rpm", 0);
    m_sensorPose.setFromValues(
        configSource.read_float(iniSection, "pose_x", 0),
        configSource.read_float(iniSection, "pose_y", 0),
        configSource.read_float(iniSection, "pose_z", 0),
        DEG2RAD(configSource.read_float(iniSection, "pose_yaw", 0)),
        DEG2RAD(configSource.read_float(iniSection, "pose_pitch", 0)),
        DEG2RAD(configSource.read_float(iniSection, "pose_roll", 0)));

    m_highSensMode =
        configSource.read_bool(iniSection, "HOKUYO_HS_mode", m_highSensMode);

#ifdef _WIN32
    m_com_port =
        configSource.read_string(iniSection, "COM_port_WIN", m_com_port);
#else
    m_com_port =
        configSource.read_string(iniSection, "COM_port_LIN", m_com_port);
#endif

    m_ip_dir = configSource.read_string(iniSection, "IP_DIR", m_ip_dir);
    m_port_dir = configSource.read_int(iniSection, "PORT_DIR", m_port_dir);

    ASSERTMSG_(
        !m_com_port.empty() || !m_ip_dir.empty(),
        "Either COM_port or IP_DIR must be defined in the configuration file!");
    ASSERTMSG_(
        m_com_port.empty() || m_ip_dir.empty(),
        "Both COM_port and IP_DIR set! Please, define only one of them.");
    if (!m_ip_dir.empty())
    {
        ASSERTMSG_(
            m_port_dir,
            "A TCP/IP port number `PORT_DIR` must be specified for Ethernet "
            "connection");
    }

    m_disable_firmware_timestamp = configSource.read_bool(
        iniSection, "disable_firmware_timestamp", m_disable_firmware_timestamp);
    m_intensity = configSource.read_bool(iniSection, "intensity", m_intensity),

    MRPT_LOAD_HERE_CONFIG_VAR(
        scan_interval, int, m_scan_interval, configSource, iniSection);

    // Parent options:
    C2DRangeFinderAbstract::loadCommonParams(configSource, iniSection);
}

/*-------------------------------------------------------------
                        turnOn
-------------------------------------------------------------*/
bool CHokuyoURG::turnOn()
{
    MRPT_START

    // Bound?
    if (!ensureStreamIsOpen()) return false;

    // If we are over a serial link, set it up:
    if (m_ip_dir.empty())
    {
        auto* COM = dynamic_cast<CSerialPort*>(m_stream);

        if (COM != nullptr)
        {
            // It is a COM:
            COM->setConfig(19200);
            COM->setTimeouts(100, 0, 200, 0, 0);

            // Assure the laser is off and quiet:
            switchLaserOff();
            std::this_thread::sleep_for(10ms);

            COM->purgeBuffers();
            std::this_thread::sleep_for(10ms);

            COM->setConfig(115200);
            switchLaserOff();
            std::this_thread::sleep_for(10ms);
            COM->purgeBuffers();
            std::this_thread::sleep_for(10ms);
            COM->setConfig(19200);
        }

        if (COM != nullptr)
        {
            // Set 115200 baud rate:
            setHighBaudrate();
            enableSCIP20();
            COM->setConfig(115200);
        }
    }
    else
    {
        auto* COM = dynamic_cast<CClientTCPSocket*>(m_stream);

        if (COM != nullptr)
        {
            // Assure the laser is off and quiet:
            switchLaserOff();
            std::this_thread::sleep_for(10ms);

            purgeBuffers();
            std::this_thread::sleep_for(10ms);

            switchLaserOff();
            std::this_thread::sleep_for(10ms);
            purgeBuffers();
        }
    }

    if (!enableSCIP20()) return false;

    // Turn on the laser:
    if (!switchLaserOn()) return false;

    // Set the motor speed:
    if (m_motorSpeed_rpm)
        if (!setMotorSpeed(m_motorSpeed_rpm)) return false;

    // Set HS mode:
    setHighSensitivityMode(m_highSensMode);

    // Display sensor information:
    if (!displaySensorInfo(&m_sensor_info)) return false;

    // Set for scanning angles:
    m_firstRange = m_sensor_info.scan_first;
    m_lastRange = m_sensor_info.scan_last;

    // Artificially reduced FOV?
    if (m_reduced_fov > 0 && m_reduced_fov < 2 * M_PI)
    {
        int center = (m_lastRange + m_firstRange) >> 1;
        const int half_range = static_cast<int>(
                                   (m_sensor_info.scans_per_360deg / 360) *
                                   RAD2DEG(m_reduced_fov)) >>
                               1;
        m_firstRange = center - half_range;
        m_lastRange = center + half_range;
        MRPT_LOG_INFO_STREAM(
            "[HOKUYO::turnOn] Using reduced FOV: ranges ["
            << m_firstRange << "-" << m_lastRange << "] for "
            << RAD2DEG(m_reduced_fov) << " deg. FOV");
    }

    if (!displayVersionInfo())
    {
        // return false; // It's not SO important
    }

    // Start!
    if (!startScanningMode()) return false;

    return true;

    MRPT_END
}

/*-------------------------------------------------------------
                        turnOff
-------------------------------------------------------------*/
bool CHokuyoURG::turnOff()
{
    // Turn off the laser:
    if (!switchLaserOff()) return false;

    return true;
}

bool CHokuyoURG::setHighBaudrate()
{
    char rcv_status0, rcv_status1;
    if (!ensureStreamIsOpen()) return false;

    MRPT_LOG_DEBUG(
        "[CHokuyoURG::setHighBaudrate] Changing baudrate to 115200...");

    // Send command:
    sendCmd("SS115200\x0A");

    // Receive response:
    if (!receiveResponse(rcv_status0, rcv_status1))
    {
        MRPT_LOG_ERROR(
            "[CHokuyoURG::setHighBaudrate] Error waiting for response");
        return false;
    }

    MRPT_LOG_DEBUG("OK\n");
    return true;
}

/*-------------------------------------------------------------
                        assureBufferHasBytes
-------------------------------------------------------------*/
bool CHokuyoURG::assureBufferHasBytes(const size_t nDesiredBytes)
{
    ASSERT_(nDesiredBytes < m_rx_buffer.capacity());

    if (m_rx_buffer.size() >= nDesiredBytes)
    {
        return true;
    }
    else
    {
        // Try to read more bytes:
        uint8_t buf[128];
        const size_t to_read = std::min(m_rx_buffer.available(), sizeof(buf));

        try
        {
            size_t nRead;

            if (!m_ip_dir.empty())
            {
                auto* client = dynamic_cast<CClientTCPSocket*>(m_stream);
                nRead = client->readAsync(buf, to_read, 100, 10);
            }
            else
            {
                nRead = m_stream->Read(buf, to_read);
            }

            m_rx_buffer.push_many(buf, nRead);
        }
        catch (std::exception&)
        {
            // 0 bytes read
        }

        return (m_rx_buffer.size() >= nDesiredBytes);
    }
}

bool CHokuyoURG::receiveResponse(char& rcv_status0, char& rcv_status1)
{
    m_rcv_data.clear();
    if (!ensureStreamIsOpen()) return false;
    ASSERT_(!m_lastSentMeasCmd.empty());

    try
    {
        // Process response:
        // ---------------------------------

        // COMMAND ECHO ---------
        unsigned int i = 0;
        const unsigned int verifLen = m_lastSentMeasCmd.size();

        if (verifLen)
        {
            do
            {
                if (!assureBufferHasBytes(verifLen - i)) return false;

                // If matches the echo, go on:
                if (m_rx_buffer.pop() == m_lastSentMeasCmd[i])
                    i++;
                else
                    i = 0;
            } while (i < verifLen);
        }

        // Now, the status bytes:
        if (!assureBufferHasBytes(2)) return false;

        rcv_status0 = m_rx_buffer.pop();
        rcv_status1 = m_rx_buffer.pop();

        // In SCIP2.0, there is an additional sum char:
        if (rcv_status1 != 0x0A)
        {
            // Yes, it is SCIP2.0
            if (!assureBufferHasBytes(1)) return false;

            // Ignore this byte: sumStatus
            m_rx_buffer.pop();
        }
        else
        {
            // Continue, it seems a SCIP1.1 response...
        }

        // After the status bytes, there is a LF:
        if (!assureBufferHasBytes(1)) return false;
        char nextChar = m_rx_buffer.pop();
        if (nextChar != 0x0A) return false;

        // -----------------------------------------------------------------------------
        // Now the data:
        // There's a problem here, we don't know in advance how many bytes to
        // read,
        //  so rely on the serial port class implemented buffer and call many
        //  times
        //  the read method with only 1 byte each time:
        // -----------------------------------------------------------------------------
        bool lastWasLF = false;
        i = 0;
        for (;;)
        {
            if (!assureBufferHasBytes(1))
            {
                return false;
            }
            m_rcv_data.push_back(m_rx_buffer.pop());
            i++;  // One more byte in the buffer

            // No data?
            if (i == 1 && m_rcv_data[0] == 0x0A)
            {
                m_rcv_data.clear();
                return true;
            }

            // Is it a LF?
            if (m_rcv_data[i - 1] == 0x0A)
            {
                if (!lastWasLF)
                {
                    // Discard SUM+LF
                    ASSERT_(i >= 2);
                    i -= 2;
                    m_rcv_data.resize(i);
                }
                else
                {
                    // Discard this last LF:
                    i--;

                    // Done!
                    m_rcv_data.resize(i);
                    MRPT_LOG_DEBUG_STREAM(
                        "[Hokuyo] receiveResponse(): RX `" << m_rcv_data
                                                           << "`");

                    if (rcv_status0 != '0' &&
                        (rcv_status0 != '9' && rcv_status1 != '9'))
                    {
                        MRPT_LOG_ERROR_STREAM(
                            "[Hokuyo] Error LIDAR status: "
                            << (int)rcv_status0 << " after command: `"
                            << m_lastSentMeasCmd << "`");
                        return false;
                    }

                    return true;
                }
                lastWasLF = true;
            }
            else
                lastWasLF = false;
        }
    }
    catch (const std::exception& e)
    {
        MRPT_LOG_ERROR_FMT(
            "[Hokuyo] receiveResponse() Exception: %s", e.what());
        return false;
    }
    catch (...)
    {
        return false;  // Serial port timeout,...
    }
}

bool CHokuyoURG::enableSCIP20()
{
    char rcv_status0, rcv_status1;
    if (!ensureStreamIsOpen()) return false;

    MRPT_LOG_DEBUG(
        "[CHokuyoURG::enableSCIP20] Changing protocol to SCIP2.0...");

    // Send command:
    sendCmd("SCIP2.0\x0A");

    // Receive response:
    if (!receiveResponse(rcv_status0, rcv_status1))
    {
        MRPT_LOG_ERROR_STREAM(
            __CURRENT_FUNCTION_NAME__ << ": Error in response");
        return false;
    }

    MRPT_LOG_DEBUG("OK\n");
    return true;
}

bool CHokuyoURG::switchLaserOn()
{
    char rcv_status0, rcv_status1;

    if (!ensureStreamIsOpen()) return false;

    MRPT_LOG_DEBUG("[CHokuyoURG::switchLaserOn] Switching laser ON...");

    // Send command:
    sendCmd("BM\x0A");

    // Receive response:
    if (!receiveResponse(rcv_status0, rcv_status1))
    {
        MRPT_LOG_ERROR_STREAM(
            __CURRENT_FUNCTION_NAME__ << ": Error in response");
        return false;
    }

    MRPT_LOG_DEBUG("OK\n");
    return true;
}

bool CHokuyoURG::switchLaserOff()
{
    char rcv_status0, rcv_status1;

    if (!ensureStreamIsOpen()) return false;

    MRPT_LOG_DEBUG("[CHokuyoURG::switchLaserOff] Switching laser OFF...");

    // Send command:
    sendCmd("QT\x0A");

    // Receive response:
    if (!receiveResponse(rcv_status0, rcv_status1))
    {
        MRPT_LOG_ERROR_STREAM(
            __CURRENT_FUNCTION_NAME__ << ": Error in response");
        return false;
    }

    MRPT_LOG_DEBUG("OK\n");
    return true;
}

void CHokuyoURG::setScanInterval(unsigned int skipScanCount)
{
    m_scan_interval = skipScanCount;
}
unsigned int CHokuyoURG::getScanInterval() const { return m_scan_interval; }
bool CHokuyoURG::setMotorSpeed(int motoSpeed_rpm)
{
    char rcv_status0, rcv_status1;
    if (!ensureStreamIsOpen()) return false;

    MRPT_LOG_DEBUG_FMT(
        "[CHokuyoURG::setMotorSpeed] Setting to %i rpm...", motoSpeed_rpm);

    // Send command:
    int motorSpeedCode = (600 - motoSpeed_rpm) / 6;
    if (motorSpeedCode < 0 || motorSpeedCode > 10)
    {
        MRPT_LOG_ERROR_STREAM(
            __CURRENT_FUNCTION_NAME__
            << " Motorspeed must be in the range 540-600 rpm");
        return false;
    }

    char cmd[20];
    os::sprintf(cmd, 20, "CR%02i\x0A", motorSpeedCode);
    sendCmd(cmd);

    // Receive response:
    if (!receiveResponse(rcv_status0, rcv_status1))
    {
        MRPT_LOG_ERROR_STREAM(
            __CURRENT_FUNCTION_NAME__ << ": Error in response");
        return false;
    }

    MRPT_LOG_DEBUG("OK\n");
    return true;
}

/*-------------------------------------------------------------
                        setHighSensitivityMode
-------------------------------------------------------------*/
bool CHokuyoURG::setHighSensitivityMode(bool enabled)
{
    char rcv_status0, rcv_status1;
    if (!ensureStreamIsOpen()) return false;

    MRPT_LOG_DEBUG_FMT(
        "[CHokuyoURG::setHighSensitivityMode] Setting HS mode to: %s...",
        enabled ? "true" : "false");

    // Send command:
    char cmd[20];
    os::sprintf(cmd, 20, "HS%i\x0A", enabled ? 1 : 0);
    sendCmd(cmd);

    // Receive response:
    if (!receiveResponse(rcv_status0, rcv_status1))
    {
        MRPT_LOG_ERROR_STREAM(
            __CURRENT_FUNCTION_NAME__ << ": Error in response");
        return false;
    }

    MRPT_LOG_DEBUG("OK\n");
    return true;
}

/*-------------------------------------------------------------
                                                setIntensityMode
-------------------------------------------------------------*/
bool CHokuyoURG::setIntensityMode(bool enabled)
{
    m_intensity = enabled;
    return true;
}

bool CHokuyoURG::displayVersionInfo()
{
    char rcv_status0, rcv_status1;
    if (!ensureStreamIsOpen()) return false;

    MRPT_LOG_DEBUG("[CHokuyoURG::displayVersionInfo] Asking info...");

    // Send command:
    sendCmd("VV\x0A");

    // Receive response:
    if (!receiveResponse(rcv_status0, rcv_status1))
    {
        MRPT_LOG_ERROR_STREAM(
            __CURRENT_FUNCTION_NAME__ << ": Error in response");
        return false;
    }

    MRPT_LOG_DEBUG("OK\n");

    // PRINT:
    for (auto& c : m_rcv_data)
        if (c == ';') c = '\n';
    m_rcv_data[m_rcv_data.size()] = '\0';

    if (!m_rcv_data.empty())
    {
        MRPT_LOG_INFO_STREAM(
            "\n------------- HOKUYO Scanner: Version Information ------\n"
            << &m_rcv_data[0]
            << "\n"
               "-------------------------------------------------------\n\n");
    }
    return true;
}

/*-------------------------------------------------------------
                        displaySensorInfo
-------------------------------------------------------------*/
bool CHokuyoURG::displaySensorInfo(TSensorInfo* out_data)
{
    char rcv_status0, rcv_status1;
    if (!ensureStreamIsOpen()) return false;

    MRPT_LOG_DEBUG("[CHokuyoURG::displaySensorInfo] Asking for info...");

    // Send command:
    sendCmd("PP\x0A");

    // Receive response:
    if (!receiveResponse(rcv_status0, rcv_status1))
    {
        MRPT_LOG_ERROR_STREAM(
            __CURRENT_FUNCTION_NAME__ << ": Error in response");
        return false;
    }
    MRPT_LOG_DEBUG("OK\n");

    // PRINT:
    for (auto& c : m_rcv_data)
        if (c == ';') c = '\n';
    m_rcv_data[m_rcv_data.size()] = '\0';

    if (!m_rcv_data.empty())
    {
        MRPT_LOG_INFO_STREAM(
            "\n------------- HOKUYO Scanner: Product Information ------\n"
            << &m_rcv_data[0]
            << "\n"
               "-------------------------------------------------------\n\n");
    }

    // Parse the data:
    if (out_data)
    {
        const char* ptr;

        if (nullptr != (ptr = strstr(&m_rcv_data[0], "DMAX:")))
            out_data->d_max = 0.001 * atoi(ptr + 5);
        else
            MRPT_LOG_ERROR("[Hokuyo] displayVersionInfo() parse error");

        if (nullptr != (ptr = strstr(&m_rcv_data[0], "DMIN:")))
            out_data->d_min = 0.001 * atoi(ptr + 5);
        else
            MRPT_LOG_ERROR("[Hokuyo] displayVersionInfo() parse error");

        if (nullptr != (ptr = strstr(&m_rcv_data[0], "ARES:")))
            out_data->scans_per_360deg = atoi(ptr + 5);
        else
            MRPT_LOG_ERROR("[Hokuyo] displayVersionInfo() parse error");

        if (nullptr != (ptr = strstr(&m_rcv_data[0], "SCAN:")))
            out_data->motor_speed_rpm = atoi(ptr + 5);
        else
            MRPT_LOG_ERROR("[Hokuyo] displayVersionInfo() parse error");

        if (nullptr != (ptr = strstr(&m_rcv_data[0], "AMIN:")))
            out_data->scan_first = atoi(ptr + 5);
        else
            MRPT_LOG_ERROR("[Hokuyo] displayVersionInfo() parse error");

        if (nullptr != (ptr = strstr(&m_rcv_data[0], "AMAX:")))
            out_data->scan_last = atoi(ptr + 5);
        else
            MRPT_LOG_ERROR("[Hokuyo] displayVersionInfo() parse error");

        if (nullptr != (ptr = strstr(&m_rcv_data[0], "AFRT:")))
            out_data->scan_front = atoi(ptr + 5);
        else
            MRPT_LOG_ERROR("[Hokuyo] displayVersionInfo() parse error");

        if (nullptr != (ptr = strstr(&m_rcv_data[0], "MODL:")))
        {
            char aux[30];
            memcpy(aux, ptr + 5, 8);
            aux[8] = '\0';
            out_data->model = aux;
        }
        else
            MRPT_LOG_ERROR("[Hokuyo] displayVersionInfo() parse error");
    }

    return true;
}

bool CHokuyoURG::startScanningMode()
{
    char rcv_status0, rcv_status1;
    if (!ensureStreamIsOpen()) return false;

    MRPT_LOG_DEBUG("[CHokuyoURG::startScanningMode] Starting scanning mode...");

    // Send command:
    // 'M' 'D'
    // 'XXXX' (starting step)
    // 'XXXX' (end step)
    // 'XX' (cluster count)
    // 'X' (scan interval)
    // 'XX' (number of scans)
    char cmd[50];
    unsigned int scan_interval = m_scan_interval;
    if (scan_interval > 9) scan_interval = 9;
    os::sprintf(
        cmd, 50, "M%c%04u%04u01%u00\x0A", m_intensity ? 'E' : 'D', m_firstRange,
        m_lastRange, scan_interval);

    sendCmd(cmd);

    // Receive response:
    if (!receiveResponse(rcv_status0, rcv_status1))
    {
        MRPT_LOG_ERROR_STREAM(
            __CURRENT_FUNCTION_NAME__ << ": Error in response");
        return false;
    }

    MRPT_LOG_DEBUG("OK\n");
    return true;
}

bool CHokuyoURG::ensureStreamIsOpen()
{
    MRPT_START

    if (m_stream)
    {
        // Socket or USB connection?
        if (!m_ip_dir.empty() && m_port_dir)
        {
            // Has the port been disconected (USB serial ports)??
            auto* COM = dynamic_cast<CClientTCPSocket*>(m_stream);

            if (COM != nullptr)
            {
                if (COM->isConnected()) return true;

                // It has been disconnected... try to reconnect:
                MRPT_LOG_ERROR(
                    "[CHokuyoURG] Socket connection lost! trying to "
                    "reconnect...");

                try
                {
                    COM->connect(m_ip_dir, m_port_dir);
                    // OK, reconfigure the laser:
                    turnOn();
                    return true;
                }
                catch (...)
                {
                    // Not yet..
                    return false;
                }
            }
            else
            {
                return true;  // Assume OK
            }
        }
        else
        {
            // Has the port been disconected (USB serial ports)??
            auto* COM = dynamic_cast<CSerialPort*>(m_stream);
            if (COM != nullptr)
            {
                if (COM->isOpen()) return true;

                // It has been disconnected... try to reconnect:
                MRPT_LOG_ERROR_STREAM(
                    __CURRENT_FUNCTION_NAME__
                    << ": Serial port connection lost! Trying to reconnect...");

                try
                {
                    COM->open();
                    // OK, reconfigure the laser:
                    turnOn();
                    return true;
                }
                catch (...)
                {
                    // Not yet..
                    return false;
                }
            }
            else
            {
                return true;  // Assume OK
            }
        }
    }
    else
    {
        if (m_com_port.empty() && (m_ip_dir.empty() || !m_port_dir))
        {
            THROW_EXCEPTION(
                "No stream bound to the laser nor COM serial port or ip and "
                "port provided in 'm_com_port','m_ip_dir' and 'm_port_dir'");
        }

        if (!m_ip_dir.empty())
        {
            // Connect to the TCP/IP port:
            auto* theCOM = new CClientTCPSocket();

            MRPT_LOG_INFO_STREAM(
                __CURRENT_FUNCTION_NAME__ << " Connecting to " << m_ip_dir
                                          << ":" << m_port_dir);
            theCOM->connect(m_ip_dir, m_port_dir);

            if (!theCOM->isConnected())
            {
                MRPT_LOG_ERROR_STREAM(
                    __CURRENT_FUNCTION_NAME__
                    << " Cannot connect with the server '" << m_com_port
                    << "'");
                delete theCOM;
                return false;
            }

            // Bind:
            bindIO(theCOM);
        }
        else
        {
            // Try to open the serial port:
            auto* theCOM = new CSerialPort(m_com_port, true);

            if (!theCOM->isOpen())
            {
                MRPT_LOG_ERROR_STREAM(
                    __CURRENT_FUNCTION_NAME__ << " Cannot open serial port '"
                                              << m_com_port << "'");
                delete theCOM;
                return false;
            }

            // Bind:
            bindIO(theCOM);
        }
        m_I_am_owner_serial_port = true;

        // (re)connected to the sensor. Configure the laser:
        turnOn();

        return true;
    }
    MRPT_END
}

void CHokuyoURG::initialize()
{
    if (m_verbose) this->setMinLoggingLevel(mrpt::system::LVL_DEBUG);

    if (!ensureStreamIsOpen()) return;

    if (!turnOn())
    {
        MRPT_LOG_ERROR("[Hokuyo] Error initializing HOKUYO scanner");
        return;
    }
}

void CHokuyoURG::purgeBuffers()
{
    if (!ensureStreamIsOpen()) return;

    if (m_ip_dir.empty())
    {
        auto* COM = dynamic_cast<CSerialPort*>(m_stream);
        if (COM != nullptr)
        {
            COM->purgeBuffers();
        }
    }
    else  // Socket connection
    {
        auto* COM = dynamic_cast<CClientTCPSocket*>(m_stream);

        size_t to_read = COM->getReadPendingBytes();

        if (to_read)
        {
            void* buf = malloc(sizeof(uint8_t) * to_read);

            size_t nRead = m_stream->Read(buf, to_read);

            if (nRead != to_read)
                THROW_EXCEPTION(
                    "Error in purge buffers: read and expected number of bytes "
                    "are different.");

            free(buf);
        }
    }
}