CSickLaserUSB.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 CSickLaserUSB_H
#define CSickLaserUSB_H

#include <mrpt/hwdrivers/C2DRangeFinderAbstract.h>
#include <mrpt/comms/CInterfaceFTDI.h>

namespace mrpt
{
namespace hwdrivers
{
/** This "software driver" implements the communication protocol for interfacing
 * a SICK LMS2XX laser scanners through a custom USB RS-422 interface board.
  *
  *   NOTE that this class is for a custom hardware built at our lab (MAPIR,
 * University of Malaga).
  *   For a generic serial interface, see the class CSickLaserSerial.
  *
  *   This class does not need to be bind, i.e. you do not need to call
 * C2DRangeFinderAbstract::bindIO. However, calling it will have not effect.
  *   In this class the "bind" is ignored since it is designed for USB
 * connections only, thus it internally generate the required object for
 * simplicity of use.
  *   The serial number of the USB device is used to open it on the first call
 * to "doProcess", thus you must call "loadConfig" before this, or manually
  *     call "setDeviceSerialNumber". The default serial number is "LASER001"
  *
  * Warning: Avoid defining an object of this class in a global scope if you
 * want to catch all potential
  *      exceptions during the constructors (like USB interface DLL not found,
 * etc...)
  *
  *
  *  \code
  *  PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
  * -------------------------------------------------------
  *   [supplied_section_name]
  *   SICKUSB_serialNumber=LASER001
  *   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
  *    //preview = true // Enable GUI visualization of captured data
  *
  *    // Optional: Exclusion zones to avoid the robot seeing itself:
  *    //exclusionZone1_x = 0.20 0.30 0.30 0.20
  *    //exclusionZone1_y = 0.20 0.30 0.30 0.20
  *
  *    // Optional: Exclusion zones to avoid the robot seeing itself:
  *    //exclusionAngles1_ini = 20  // Deg
  *    //exclusionAngles1_end = 25  // Deg
  *  \endcode
  * \ingroup mrpt_hwdrivers_grp
  *
  */
class CSickLaserUSB : public C2DRangeFinderAbstract
{
        DEFINE_GENERIC_SENSOR(CSickLaserUSB)

   private:
        mrpt::comms::CInterfaceFTDI* m_usbConnection;
        std::string m_serialNumber;

        /** Time of the first data packet, for synchronization purposes. */
        uint32_t m_timeStartUI;
        mrpt::system::TTimeStamp m_timeStartTT;

        /** The sensor 6D pose:
          */
        poses::CPose3D m_sensorPose;

        bool checkControllerIsConnected();
        bool waitContinuousSampleFrame(
                std::vector<float>& ranges, unsigned char& LMS_status,
                uint32_t& out_board_timestamp, bool& is_mm_mode);

   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
          */
        CSickLaserUSB();

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

        /** Changes the serial number of the device to open (call prior to
         * 'doProcess')
          */
        void setDeviceSerialNumber(const std::string& deviceSerialNumber)
        {
                m_serialNumber = deviceSerialNumber;
        }

        /** 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::CObservation2DRangeScan& outObservation,
                bool& hardwareError);

        /** Enables the scanning mode (in this class this has no effect).
          * \return If everything works "true", or "false" if there is any error.
          */
        bool turnOn();

        /** Disables the scanning mode (in this class this has no effect).
          * \return If everything works "true", or "false" if there is any error.
          */
        bool turnOff();

};  // End of class

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

#endif