CRoboticHeadInterface.cpp

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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          |
   +------------------------------------------------------------------------+ */

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

#include <mrpt/hwdrivers/CRoboticHeadInterface.h>
#include <mrpt/serialization/CArchive.h>

using namespace mrpt::math;
using namespace mrpt::hwdrivers;
using namespace mrpt::serialization;

/*-------------------------------------------------------------
                        CRoboticHeadInterface
-------------------------------------------------------------*/
CRoboticHeadInterface::CRoboticHeadInterface()
    : mrpt::system::COutputLogger("CRoboticHeadInterface")
{
    MRPT_START

    m_serialNumber = "OREJA001";
    gain.resize(3);
    gain[0] = 127;  // 0x7F (maximo)
    gain[1] = 127;  // 0x7F (maximo)
    gain[2] = 127;  // 0x7F (maximo)
    head_yaw = 0;
    head_pitch = 0;

    MRPT_END
}

/*-------------------------------------------------------------
                        loadConfig_sensorSpecific
-------------------------------------------------------------*/
void CRoboticHeadInterface::loadConfig_sensorSpecific(
    const mrpt::config::CConfigFileBase* configSource,
    const std::string& iniSection)
{
    configSource->read_vector(iniSection.c_str(), "gain0", gain, gain);
    m_serialNumber = configSource->read_string(
        iniSection.c_str(), "OREJA_serialNumber", m_serialNumber);
    head_yaw = configSource->read_int(iniSection.c_str(), "HeadYaw", head_yaw);
    head_pitch =
        configSource->read_int(iniSection.c_str(), "HeadPitch", head_pitch);
}

/*-------------------------------------------------------------
                            GetGain
-------------------------------------------------------------*/
void CRoboticHeadInterface::GetGain(int& _gain, int& channel)
{
    msg.type = 0x58;
    msg.content.resize(1);
    msg.content[0] = (unsigned char)channel;
    archiveFrom(m_usbConnection).sendMessage(msg);
    while (!archiveFrom(m_usbConnection).receiveMessage(msg))
        ;
    _gain = msg.content[0];
    if (msg.content[0])
        THROW_EXCEPTION(
            "ERROR LEYENDO LA GANANCIA DEL AMPLIFICADOR DE LA OREJA \n");
}

/*-------------------------------------------------------------
                            SetGain
-------------------------------------------------------------*/
bool CRoboticHeadInterface::SetGain(int& new_gain, int& channel)
{
    msg.type = 0x57;
    msg.content.resize(2);
    msg.content[0] = (unsigned char)channel;
    msg.content[1] = (unsigned char)new_gain;
    archiveFrom(m_usbConnection).sendMessage(msg);
    while (!archiveFrom(m_usbConnection).receiveMessage(msg))
        ;
    if (msg.content[0] == 0)
        return false;
    else
        return true;
}

/*-------------------------------------------------------------
                        GetSoundLocation
-------------------------------------------------------------*/
void CRoboticHeadInterface::GetSoundLocation(int& ang)
{
    msg.type = 0x59;
    msg.content.resize(0);
    archiveFrom(m_usbConnection).sendMessage(msg);
    while (!archiveFrom(m_usbConnection).receiveMessage(msg))
        ;
    ang = 256 * (int)msg.content[1] + (int)msg.content[0];
}

/*-------------------------------------------------------------
                        Get3SoundBuffer
-------------------------------------------------------------*/
void CRoboticHeadInterface::Get3SoundBuffer(CMatrixDynamic<int>& buf)
{
    buf.setSize(3, 500);  // 3 channel, 500 samples per channel
    msg.type = 0x51;
    msg.content.resize(0);
    archiveFrom(m_usbConnection).sendMessage(msg);

    // Las lecturas se haran de 100 en 100 datos y hay 3 buffers de 500 muestras
    // cada uno
    for (size_t k = 0; k < 3; k++)  // Lectura de cada canal
    {
        for (size_t j = 0; j < 500 / 100; j++)  // Lectura de un canal completo
        {
            while (!archiveFrom(m_usbConnection).receiveMessage(msg))
                ;
            for (size_t i = 0; i < 100; i++)  // Lectura de un envio
                buf(k, 100 * j + i) =
                    256 * (int)msg.content[2 * i + 1] + (int)msg.content[2 * i];
        }
    }
}