CCANBusReader.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#ifndef CCANBusReader_H
#define CCANBusReader_H

#include <mrpt/obs/CObservationCANBusJ1939.h>
#include <mrpt/utils/COutputLogger.h>
#include <mrpt/hwdrivers/CGenericSensor.h>
#include <mrpt/comms/CSerialPort.h>

namespace mrpt
{
namespace hwdrivers
{
/** This "software driver" implements the communication protocol for interfacing
 * a SICK LMS 2XX laser scanners through a standard RS232 serial port (or a
 * USB2SERIAL converter).
  *   The serial port is opened upon the first call to "doProcess" or
 * "initialize", so you must call "loadConfig" before
  *   this, or manually call "setSerialPort". Another alternative is to call the
 * base class method C2DRangeFinderAbstract::bindIO,
  *   but the "setSerialPort" interface is probably much simpler to use.
  *
  *   For an example of usage see the example in
 * "samples/SICK_laser_serial_test".
  *   See also the example configuration file for rawlog-grabber in
 * "share/mrpt/config_files/rawlog-grabber".
  *
  *  \code
  *  PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
  * -------------------------------------------------------
  *   [supplied_section_name]
  *   COM_port_WIN = COM1   // Serial port to connect to
  *   COM_port_LIN = ttyS0
  *
  *   COM_baudRate = 38400 // Possible values: 9600 (default), 38400, 5000000
  *   mm_mode      = 1/0   // 1: millimeter mode, 0:centimeter mode (Default=0)
  *   FOV          = 180   // Field of view: 100 or 180 degrees (Default=180)
  *   resolution   =  50   // Scanning resolution, in units of 1/100 degree.
 * Valid values: 25,50,100 (Default=50)
  *
  *
  *   pose_x=0.21       // Laser range scaner 3D position in the robot (meters)
  *   pose_y=0
  *   pose_z=0.34
  *   pose_yaw=0        // Angles in degrees
  *   pose_pitch=0
  *   pose_roll=0
  *  \endcode
  *
  * \sa C2DRangeFinderAbstract
  * \ingroup mrpt_hwdrivers_grp
  */
class CCANBusReader : public mrpt::utils::COutputLogger, public CGenericSensor
{
        DEFINE_GENERIC_SENSOR(CCANBusReader)

   private:
        /** Tries to open the com port and setup all the LMS protocol. Returns true
         * if OK or already open. */
        bool tryToOpenComms(std::string* err_msg = nullptr);
        bool waitContinuousSampleFrame(
                uint8_t& out_prio, uint8_t& out_pdu_format, uint8_t& out_pdu_spec,
                uint8_t& out_src_address, uint8_t& out_data_length, uint16_t& out_pgn,
                std::vector<uint8_t>& out_data, std::vector<char>& out_raw_frame);

        /** Sends the specified speed to the CAN Converter. */
        bool sendCANBusReaderSpeed();
        /** Opens the CAN Channel */
        bool CANBusOpenChannel();
        /** Closes the CAN Channel */
        bool CANBusCloseChannel();
        bool CANBusAutoPoll();
        bool CANBusPoll();
        bool CANBusX1();
        bool setupSerialComms();
        bool queryVersion(bool printOutVersion = false);
        bool waitACK(uint16_t timeout_ms);
        bool waitForVersion(uint16_t timeout, bool printOutVersion = false);
        bool waitIncomingFrame(uint16_t timeout);

        bool sendCommandToCANReader(
                const uint8_t* cmd, const uint16_t cmd_len, bool wait = true);

        uint8_t m_received_frame_buffer[2000];

        /** If set to non-empty, the serial port will be attempted to be opened
         * automatically when this class is first used to request data from the
         * laser. */
        std::string m_com_port;
        /** Will be !=nullptr only if I created it, so I must destroy it at the end.
         */
        mrpt::comms::CSerialPort* m_mySerialPort;
        /** Baudrate: 9600, 38400, 500000 */
        int m_com_baudRate;
        /** Default = 1 */
        unsigned int m_nTries_connect;
        unsigned int m_nTries_current;
        int m_canbus_speed;
        bool m_canreader_timestamp;  // for future work
        bool m_CANBusChannel_isOpen;  // if the can bus channel is open or not

   protected:
        /** See the class documentation at the top for expected parameters */
        void loadConfig_sensorSpecific(
                const mrpt::utils::CConfigFileBase& configSource,
                const std::string& iniSection);

   public:
        /** Constructor  */
        CCANBusReader();

        /** Destructor  */
        virtual ~CCANBusReader();

        /** Changes the serial port to connect to (call prior to 'doProcess'), for
         * example "COM1" or "ttyS0".
          *  This is not needed if the configuration is loaded with "loadConfig".
          */
        void setSerialPort(const std::string& port) { m_com_port = port; }
        /** \sa setSerialPort */
        std::string getSerialPort() const { return m_com_port; }
        /** Changes the serial port baud rate (call prior to 'doProcess'); valid
         * values are 9600,38400 and 500000.
          *  This is not needed if the configuration is loaded with "loadConfig".
          *  \sa getBaudRate */
        void setBaudRate(int baud) { m_com_baudRate = baud; }
        /** \sa setBaudRate */
        int getBaudRate() const { return m_com_baudRate; }
        /** Enables/Disables the addition of a timestamp according to the arrival
         * time to the converter (default=false)
          *  (call prior to 'doProcess') This is not needed if the configuration is
         * loaded with "loadConfig".
          */
        void setCANReaderTimeStamping(bool setTimestamp = false)
        {
                m_canreader_timestamp = setTimestamp;
        }
        bool getCANReaderTimeStamping() { return m_canreader_timestamp; }
        /** Sets the CAN reader speed when connecting to the CAN Bus
        */
        void setCANReaderSpeed(const unsigned int speed) { m_canbus_speed = speed; }
        unsigned int getCANReaderSpeed() { return m_canbus_speed; }
        /** If performing several tries in ::initialize(), this is the current try
         * loop number. */
        unsigned int getCurrentConnectTry() const { return m_nTries_current; }
        /** Specific laser scanner "software drivers" must process here new data
         * from the I/O stream, and, if a whole scan has arrived, return it.
          *  This method will be typically called in a different thread than other
         * methods, and will be called in a timely fashion.
          */
        void doProcessSimple(
                bool& outThereIsObservation,
                mrpt::obs::CObservationCANBusJ1939& outObservation,
                bool& hardwareError);

        /** Set-up communication with the laser.
          *  Called automatically by rawlog-grabber.
          *  If used manually, call after "loadConfig" and before "doProcess".
          *
          *  In this class this method does nothing, since the communications are
         * setup at the first try from "doProcess" or "doProcessSimple".
          */
        void initialize();

        void doProcess();

};  // End of class

}  // End of namespace
}  // End of namespace

#endif