CImpinjRFID.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 CImpinjRFID_H
#define CImpinjRFID_H

#include <mrpt/hwdrivers/CGenericSensor.h>
#include <mrpt/obs/CObservationRFID.h>
#include <mrpt/utils/CConfigFileBase.h>

#include <mrpt/comms/CClientTCPSocket.h>
#include <mrpt/comms/CServerTCPSocket.h>
#include <memory>

namespace mrpt
{
namespace hwdrivers
{
/** This class implements an interface to an Impinj RFID reader. This object
 * connects to a program that does the actual communication with the receiver.
 * This is done because the manufacturer only provides libraries for C# and
 * Java. The program that runs the device must be started after this object
  */
class CImpinjRFID : public mrpt::hwdrivers::CGenericSensor
{
        DEFINE_GENERIC_SENSOR(CImpinjRFID)

   private:
        /** Poses (Antenna 1)
         */
        float pose_x_1, pose_y_1, pose_z_1, pose_yaw_1, pose_pitch_1, pose_roll_1;

        /** Poses (Antenna 2)
         */
        float pose_x_2, pose_y_2, pose_z_2, pose_yaw_2, pose_pitch_2, pose_roll_2;

        /** Server port
         */
        int port;

        /** IP of the module (usually 127.0.0.1)
         */
        std::string IPm;

        /** Reader name
         */
        std::string reader_name;

        /** Server socket (listens for the incoming connection)
         */
        std::unique_ptr<mrpt::comms::CServerTCPSocket> server;

        /** Client socket (handles the connection to the client)
         */
        std::unique_ptr<mrpt::comms::CClientTCPSocket> client;

        /** Driver executable path
         */
        std::string driver_path;

        /** Connection status
         */
        bool connected;

        /** start the external driver
         */
        void startDriver();

        static void dummy_startDriver(CImpinjRFID* o);

   public:
        /** Default constructor.
         */
        CImpinjRFID();
        virtual ~CImpinjRFID();

        /** Connect to the reader.
         */
        void connect();

        void doProcess();

        void initialize();

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

        /** Gets the information of the tags as a timestamped observation
        * NOTE: Deprecated, use getObservations instead. See CGenericSensor
        * documentation. This function is kept for internal use of the module
        * \return Returns true if the observation was correct, and false otherwise
        * \sa mrpt::hwdrivers::CGenericSensor
        */
        bool getObservation(mrpt::obs::CObservationRFID& obs);

        /** Close the connection to the reader.
         */
        void closeReader();
};  // End of class def.

}  // End of namespace
}  // End of namespace
#endif