CRaePID.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 CRaePID_H
#define CRaePID_H

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

namespace mrpt
{
namespace 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.
         */
        virtual ~CRaePID() { COM.close(); };
        void doProcess();

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

        /** 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.

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