CRaePID.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/comms/CSerialPort.h>
#include <mrpt/config/CConfigFileBase.h>
#include <mrpt/hwdrivers/CGenericSensor.h>
#include <mrpt/obs/CObservationGasSensors.h>

namespace mrpt::hwdrivers
{
/** This class implements a driver for the RAE Systems gas PhotoIonization
 * Detector (PID) (Tested on a MiniRAE Lite)
 *   The sensor is accessed via a standard (or USB) serial port.
 *
 *   Refer to the manufacturer website for details on this sensor:
 * http://www.raesystems.com/products/minirae-lite
 *
 *  \sa mrpt::obs::CObservationGasSensors
 * \ingroup mrpt_hwdrivers_grp
 */
class CRaePID : public mrpt::hwdrivers::CGenericSensor
{
    DEFINE_GENERIC_SENSOR(CRaePID)

   private:
    /** COM port name
     */
    std::string com_port;
    int com_bauds;

    /** COM port
     */
    mrpt::comms::CSerialPort COM;

    /** Poses
     */
    float pose_x, pose_y, pose_z, pose_yaw, pose_pitch, pose_roll;

    /** Returns true if the COM port is already open, or try to open it in other
     * case.
     * \return true if everything goes OK, or false if there are problems
     * opening the port.
     */
    bool tryToOpenTheCOM();

   public:
    /** Default constructor.
     */
    CRaePID();
    /** Default destructor.
     */
    ~CRaePID() override { COM.close(); };
    void doProcess() override;

    void loadConfig_sensorSpecific(
        const mrpt::config::CConfigFileBase& configSource,
        const std::string& section) override;

    /** Get firmware version string.
     */
    std::string getFirmware();

    /** Get model string.
     */
    std::string getModel();

    /** Get serial number as a string.
     */
    std::string getSerialNumber();

    /** Get name string.
     */
    std::string getName();

    /** Switch power on or off (returns true if turned on).
     */
    bool switchPower();

    /** Get full reading (see PID documentation). In the returned observation,
     * each reding is saved as a separate e-nose
     */
    mrpt::obs::CObservationGasSensors getFullInfo();

    /** Get error status (true if an error was found). errorString shows the
     * error code (see PID documentation)
     */
    bool errorStatus(std::string& errorString);

    /** Get alarm limits
     */
    void getLimits(float& min, float& max);

};  // End of class def.

}  // namespace mrpt::hwdrivers