CLMS100eth.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/hwdrivers/CLMS100eth.h>
#include <mrpt/system/string_utils.h>

#include <cstring>
#include <iostream>
#include <sstream>

#define APPERTURE 4.712385  // in radian <=> 270°

using namespace mrpt;
using namespace mrpt::system;
using namespace mrpt::hwdrivers;
using namespace mrpt::poses;
using namespace mrpt::obs;
using namespace std;

IMPLEMENTS_GENERIC_SENSOR(CLMS100Eth, mrpt::hwdrivers)

CLMS100Eth::CLMS100Eth(string _ip, unsigned int _port)
    : m_ip(_ip),
      m_port(_port),
      m_client(),
      m_cmd(),
      m_sensorPose(0.0, 0.0, 0.0, 0.0, 0.0, 0.0),
      m_beamApperture(.25 * M_PI / 180.0)
{
    setVerbosityLevel(mrpt::system::LVL_DEBUG);
}

CLMS100Eth::~CLMS100Eth()
{
    if (m_connected) m_client.close();
    //    delete m_client;
    //    delete m_sensorPose;
}

void CLMS100Eth::initialize()
{
    if (!checkIsConnected())
    {
        THROW_EXCEPTION(
            "Can't connect to LMS100 Ethernet Sensor check your configuration "
            "file.");
    }
    turnOn();
}

void CLMS100Eth::loadConfig_sensorSpecific(
    const mrpt::config::CConfigFileBase& configSource,
    const std::string& iniSection)
{
    C2DRangeFinderAbstract::loadCommonParams(configSource, iniSection);
    float pose_x, pose_y, pose_z, pose_yaw, pose_pitch, pose_roll;

    pose_x = configSource.read_float(iniSection, "pose_x", 0, false);
    pose_y = configSource.read_float(iniSection, "pose_y", 0, false);
    pose_z = configSource.read_float(iniSection, "pose_z", 0, false);
    pose_yaw = configSource.read_float(iniSection, "pose_yaw", 0, false);
    pose_pitch = configSource.read_float(iniSection, "pose_pitch", 0, false);
    pose_roll = configSource.read_float(iniSection, "pose_roll", 0, false);
    m_ip = configSource.read_string(
        iniSection, "ip_address", "192.168.0.1", false);
    m_port = configSource.read_int(iniSection, "TCP_port", 2111, false);
    m_process_rate =
        configSource.read_int(iniSection, string("process_rate"), 10, false);
    m_sensorLabel =
        configSource.read_string(iniSection, "sensorLabel", "SICK", false);
    m_sensorPose = CPose3D(
        pose_x, pose_y, pose_z, DEG2RAD(pose_yaw), DEG2RAD(pose_pitch),
        DEG2RAD(pose_roll));
}

bool CLMS100Eth::checkIsConnected()
{
    if (m_connected)
        return true;
    else
    {
        try
        {
            m_client.connect(m_ip, m_port);
        }
        catch (const std::exception& e)
        {
            MRPT_LOG_ERROR_FMT(
                "[CLMS100ETH] ERROR TRYING TO OPEN Ethernet DEVICE:\n%s",
                e.what());
            return false;
        }
    }
    m_connected = true;
    return true;
}

bool CLMS100Eth::turnOff()
{
    if (m_client.isConnected()) m_client.close();
    m_connected = false;
    m_turnedOn = false;
    return true;
}

bool CLMS100Eth::turnOn()
{
    /** From the LMS100 datasheet : :
     * * Login sMN SetAccessMode 03 F4724744F4724744
     * * Set Scanarea and Resolution
     * * sMN mLMPsetscancfg
     * * SWN LMDscandatacfg 01 00 0 1 0 00 00 0 0 0 0 1
     * * SMN mEEwriteall   Je ne le fais pas, car ca écrit en mémoire non
     * volatile...
     * * Request scan : sRN LMDscandata OR sEN LMDscandata
     */
    if (checkIsConnected())
    {
        try
        {
            {
                char msg[] = {"sMN SetAccessMode 03 F4724744"};
                char msgIn[100];
                sendCommand(msg);

                size_t read = m_client.readAsync(msgIn, 100, 1000, 1000);  // 18

                msgIn[read - 1] = 0;
                MRPT_LOG_DEBUG_FMT("read : %u\n", (unsigned int)read);
                MRPT_LOG_DEBUG_FMT("message : %s\n", string(&msgIn[1]).c_str());

                if (!read) return false;
            }
            {
                char msg[] = {
                    "sMN mLMPsetscancfg +2500 +1 +2500 -450000 +2250000"};
                char msgIn[100];
                sendCommand(msg);

                size_t read = m_client.readAsync(msgIn, 100, 1000, 1000);

                msgIn[read - 1] = 0;
                MRPT_LOG_DEBUG_FMT("read : %u\n", (unsigned int)read);
                MRPT_LOG_DEBUG_FMT("message : %s\n", string(&msgIn[1]).c_str());

                if (!read) return false;
            }
            {
                char msg[] = {
                    "sWN LMDscandatacfg 01 00 0 1 0 00 00 0 0 0 0 +1"};
                char msgIn[100];
                sendCommand(msg);

                size_t read = m_client.readAsync(msgIn, 100, 1000, 1000);

                msgIn[read - 1] = 0;
                MRPT_LOG_DEBUG_FMT("read : %u\n", (unsigned int)read);
                MRPT_LOG_DEBUG_FMT("message : %s\n", string(&msgIn[1]).c_str());

                if (!read) return false;
            }
            {
                char msg[] = {"sMN LMCstartmeas"};
                char msgIn[100];
                sendCommand(msg);
                size_t read = m_client.readAsync(msgIn, 100, 1000, 1000);

                msgIn[read - 1] = 0;
                MRPT_LOG_DEBUG_FMT("message : %s\n", string(&msgIn[1]).c_str());
                if (!read) return false;
            }
            {
                char msgIn[100];
                char msg[] = {"sRN STlms"};
                do
                {
                    sendCommand(msg);
                    size_t read = m_client.readAsync(msgIn, 100, 1000, 1000);
                    std::this_thread::sleep_for(10000ms);

                    msgIn[read - 1] = 0;
                    MRPT_LOG_DEBUG_FMT("message : %s\n", &msgIn[1]);
                    MRPT_LOG_DEBUG_FMT("%c\n", msgIn[11]);
                    if (!read) return false;
                } while (msgIn[11] != '7');
            }
            m_turnedOn = true;
        }
        catch (const std::exception& e)
        {
            MRPT_LOG_ERROR_FMT("%s", e.what());
            return false;
        }
    }
    else
    {
        return false;
    }
    return true;
}

void CLMS100Eth::sendCommand(const char* cmd)
{
    generateCmd(cmd);
    if (!m_cmd.empty())  // one never knows...
        m_client.writeAsync(&m_cmd[0], m_cmd.size());
}

/** Add the start and end character.
 */
void CLMS100Eth::generateCmd(const char* cmd)
{
    if (strlen(cmd) > 995)
    {
        MRPT_LOG_ERROR("Error: command is too long.");
        return;
    }
    m_cmd = format("%c%s%c", 0x02, cmd, 0x03);
}

bool CLMS100Eth::decodeScan(char* buff, CObservation2DRangeScan& outObservation)
{
    char* next;
    unsigned int idx = 0;
    unsigned int scanCount = 0;
    char* tmp;
    // double factor;

    next = strtok(buff, " ", &tmp);

    while (next && scanCount == 0)
    {
        // cout << "Interpreting : " << next << endl;
        switch (++idx)
        {
            case 1:
                if (strncmp(&next[1], "sRA", 3) && strncmp(&next[1], "sSN", 3))
                    return false;
                break;
            case 2:
                if (strcmp(next, "LMDscandata")) return false;
                break;
            case 6:
                if (!strcmp(next, "1"))
                {
                    MRPT_LOG_ERROR_FMT("STATUS error on LMS100: '%s'", next);
                }
                else if (!strcmp(next, "4"))
                {
                    MRPT_LOG_ERROR_FMT(
                        "Contamination error on LMS100: '%s'", next);
                }
                else
                {
                    MRPT_LOG_DEBUG("STATUS Ok.\n");
                }
                break;
            case 21:
                if (strcmp(next, "DIST1"))
                {
                    THROW_EXCEPTION(
                        "LMS100 is not configured to send distances.");
                    return false;
                }
                MRPT_LOG_DEBUG("Distance : OK\n");
                break;
            case 22:
                // factor = strtod(next, nullptr);
                break;
            case 26:
                scanCount = strtoul(next, nullptr, 16);
                MRPT_LOG_DEBUG_FMT("Scan Count : %d\n", scanCount);
                break;
            default:
                break;
        }
        next = strtok(nullptr, " ", &tmp);
    }
    outObservation.aperture = (float)APPERTURE;
    outObservation.rightToLeft = false;
    outObservation.stdError = 0.012f;
    outObservation.sensorPose = m_sensorPose;
    outObservation.beamAperture = m_beamApperture;
    outObservation.maxRange = m_maxRange;
    outObservation.timestamp = mrpt::system::getCurrentTime();
    outObservation.sensorLabel = m_sensorLabel;

    outObservation.resizeScan(scanCount);
    unsigned int i;
    for (i = 0; i < scanCount && next; i++, next = strtok(nullptr, " ", &tmp))
    {
        outObservation.setScanRange(
            i, double(strtoul(next, nullptr, 16)) / 1000.0);
        outObservation.setScanRangeValidity(
            i, outObservation.getScanRange(i) <= outObservation.maxRange);
    }
    outObservation.resizeScan(i);
    return i >= scanCount;
}

void CLMS100Eth::doProcessSimple(
    bool& outThereIsObservation, CObservation2DRangeScan& outObservation,
    bool& hardwareError)
{
    if (!m_turnedOn)
    {
        hardwareError = true;
        outThereIsObservation = false;
        return;
    }
    hardwareError = false;

    char msg[] = {"sRN LMDscandata"};
    sendCommand(msg);
    char buffIn[16 * 1024];
    // size_t read = m_client.readAsync(buffIn, sizeof(buffIn), 100, 100);
    // cout << "read :" << read << endl;
    // while(m_client.readAsync(buffIn, sizeof(buffIn), 100, 100)) cout << "Lit
    // dans le vent" << endl;

    m_client.readAsync(buffIn, sizeof(buffIn), 40, 40);

    if (decodeScan(buffIn, outObservation))
    {
        // Do filter:
        C2DRangeFinderAbstract::filterByExclusionAreas(outObservation);
        C2DRangeFinderAbstract::filterByExclusionAngles(outObservation);
        // Do show preview:
        C2DRangeFinderAbstract::processPreview(outObservation);

        outThereIsObservation = true;
        hardwareError = false;
    }
    else
    {
        hardwareError = true;
        outThereIsObservation = false;
        MRPT_LOG_ERROR("doProcessSimple failed\n");
    }
}

/*-------------------------------------------------------------*/
void CLMS100Eth::doProcess()
{
    CObservation2DRangeScan::Ptr obs =
        std::make_shared<CObservation2DRangeScan>();
    try
    {
        bool isThereObservation, hwError;
        doProcessSimple(isThereObservation, *obs, hwError);
        if (hwError)
            m_state = ssError;
        else
            m_state = ssWorking;
        // if at least one data have been sensed :
        if (isThereObservation)
        {
            appendObservation(obs);
        }
    }
    catch (...)
    {
        m_state = ssError;
        THROW_EXCEPTION("No observation received from the Phidget board!");
    }
}

/** A method to set the sensor pose on the robot.
 */
void CLMS100Eth::setSensorPose(const CPose3D& _pose) { m_sensorPose = _pose; }