CGyroKVHDSP3000.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 CGyroKVHDSP3000_H
#define CGyroKVHDSP3000_H

#include <mrpt/hwdrivers/CGenericSensor.h>
#include <mrpt/comms/CSerialPort.h>

#include <mrpt/poses/CPose3D.h>
#include <mrpt/obs/CObservationIMU.h>

namespace mrpt
{
namespace hwdrivers
{
enum GYRO_MODE
{
        RATE,
        INCREMENTAL_ANGLE,
        INTEGRATED_ANGLE
};
/** A class for interfacing KVH DSP 3000 gyroscope with an assynchronous serial
  *communication (product SN : 02-1222-01).
  *  It uses a serial port connection to the device. The class implements the
  *generic sensor class.
  *  See also the application "rawlog-grabber" for a ready-to-use application to
  *gather data from the scanner.
  *      The generated observation is a CObservationIMU, but only the yaw angular
  *velocity and the absolute yaw position are
  *  are set in the vector CObservationIMU::rawMeasurements.
  *  The sensor process rate is imposed by hardware at 100Hz.
  *  For now, this sensor is only supported on posix system.
  *  \code
  *  PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
  * -------------------------------------------------------
  *   [supplied_section_name]
  *    process_rate = 100                               ; MUST be 100 Hz.
  *    pose_x=0     ; Sensor 3D position relative to the robot (meters)
  *    pose_y=0
  *    pose_z=0
  *    pose_yaw=0       ; Angles in degrees
  *    pose_pitch=0
  *    pose_roll=0
  *    sensorLabel = <label> ; Label of the sensor
  *    COM_port_LIN     = /dev/ttyUSB0       ; COM PORT in LINUX
  *    operatingMode = <"rate"/"integrated", "incremental">  ; Default mode is
  *Rate.
  *  \endcode
  * In most of the communs applications, this class will be used as :
  * \code
  * CGyroKVHDSP3000 kvh;
  * /// ...
  * CConfigFile conf("conf.ini");
  * /// ...
  * kvh.loadConfig_sensorSpecific(conf, "KVH");
  * /// ...
  * while(1) {
  *     kvh.doProcess();
  *             TListObservations rateObs;
  *     kvh.getObservations(rateObs);
  *             // ....
  * \endcode
  * \ingroup mrpt_hwdrivers_grp
  */
class CGyroKVHDSP3000 : public hwdrivers::CGenericSensor
{
        DEFINE_GENERIC_SENSOR(CGyroKVHDSP3000)
   protected:
        /** This serial port will be attempted to be opened automatically when this
         * class is first used to request data from the device.
          * \sa comms::CSerialPort
          */
        int m_COMbauds;
        std::string m_com_port;

        mrpt::poses::CPose3D m_sensorPose;

        /** Search the port where the sensor is located and connect to it
          */
        // bool searchPortAndConnect();

        /** The serial port connection */
        mrpt::comms::CSerialPort* m_serialPort;
        GYRO_MODE m_mode;
        bool m_firstInteration;

        mrpt::obs::CObservationIMU::Ptr m_observationGyro;

   public:
        /** Constructor
          */
        CGyroKVHDSP3000();

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

        /** Destructor
          */
        virtual ~CGyroKVHDSP3000();

        /** This method will be invoked at a minimum rate of "process_rate" (Hz)
          *  \exception This method must throw an exception with a descriptive
         * message if some critical error is found.
          */
        void doProcess();

        /** Turns on the KVH DSP 3000 device and configure it for getting
         * orientation data. you must have called loadConfig_sensorSpecific before
          * calling this function.
          */
        void initialize();
        /** Send to the sensor the command 'Z' wich reset the integrated angle. (in
         * both rate mode and incremental, this function has no effect) */
        void resetIncrementalAngle(void);
        void changeMode(GYRO_MODE _newMode);

};  // end of class

}  // end of namespace
}  // end of namespace

#endif