CGyroKVHDSP3000.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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 |
   +------------------------------------------------------------------------+ */

#include "hwdrivers-precomp.h"  // Precompiled headers

#include <mrpt/hwdrivers/CGyroKVHDSP3000.h>
#include <mrpt/obs/CObservationIMU.h>

#include <thread>
#include <iostream>

IMPLEMENTS_GENERIC_SENSOR(CGyroKVHDSP3000, mrpt::hwdrivers)

using namespace mrpt::comms;
using namespace mrpt::obs;
using namespace mrpt::hwdrivers;
using namespace std;

/*-------------------------------------------------------------
                    CGyroKVHDSP3000
-------------------------------------------------------------*/
CGyroKVHDSP3000::CGyroKVHDSP3000()
    : m_COMbauds(38400),
      m_com_port(),
      m_sensorPose(),
      m_mode(RATE),
      m_firstInteration(true)
{
    m_state = ssInitializing;
    m_sensorLabel = "KVH_DSP3000";
    m_serialPort = nullptr;
}

/*-------------------------------------------------------------
                    ~CGyroKVHDSP3000
-------------------------------------------------------------*/
CGyroKVHDSP3000::~CGyroKVHDSP3000()
{
    m_serialPort->close();
    delete m_serialPort;
}

/*-------------------------------------------------------------
                    doProcess
-------------------------------------------------------------*/
void CGyroKVHDSP3000::doProcess()
{
    if (m_state == ssError)
    {
        std::this_thread::sleep_for(200ms);
        initialize();
    }

    if (m_state == ssError) return;

    string msg;
    CObservationIMU::Ptr observationGyro =
        mrpt::make_aligned_shared<CObservationIMU>();
    observationGyro->timestamp = mrpt::system::now();

    msg = m_serialPort->ReadString(-1, nullptr, "\n");

    observationGyro->sensorPose = m_sensorPose;
    observationGyro->sensorLabel = m_sensorLabel;
    string delimiter(" ");
    vector<string> words;
    mrpt::system::tokenize(msg, delimiter, words);
    if (words.size() < 2) return;
    if (words[1].c_str()[0] == '0') return;
    double mesure = atof(words[0].c_str());
    switch (m_mode)
    {
        case RATE:
            observationGyro->rawMeasurements[IMU_YAW_VEL] = DEG2RAD(mesure);
            observationGyro->dataIsPresent[IMU_YAW_VEL] = true;
            break;
        case INTEGRATED_ANGLE:
        case INCREMENTAL_ANGLE:
            observationGyro->rawMeasurements[IMU_YAW] = DEG2RAD(mesure);
            observationGyro->dataIsPresent[IMU_YAW] = true;
            break;
    }

    if (!m_firstInteration)
    {
        appendObservation(observationGyro);
    }
    else
        m_firstInteration = false;
}

/*-------------------------------------------------------------
                    initialize
-------------------------------------------------------------*/
void CGyroKVHDSP3000::initialize()
{
    m_process_rate = 100;

    /*
      Open modem device for reading and writing and not as controlling tty
      because we don't want to get killed if linenoise sends CTRL-C.
    */
    if (m_serialPort) delete m_serialPort;
    m_serialPort = new CSerialPort(m_com_port);
    if (!(m_serialPort->isOpen())) THROW_EXCEPTION("can't open serial port");
    cout << "m_COMbaud " << m_COMbauds << endl;
    m_serialPort->setConfig(m_COMbauds);

    changeMode(m_mode);
    resetIncrementalAngle();
    m_state = ssWorking;
}

/*-------------------------------------------------------------
                    loadConfig_sensorSpecific
-------------------------------------------------------------*/
void CGyroKVHDSP3000::loadConfig_sensorSpecific(
    const mrpt::config::CConfigFileBase& configSource,
    const std::string& iniSection)
{
    m_sensorPose.setFromValues(
        configSource.read_float(iniSection, "pose_x", 0, false),
        configSource.read_float(iniSection, "pose_y", 0, false),
        configSource.read_float(iniSection, "pose_z", 0, false),
        DEG2RAD(configSource.read_float(iniSection, "pose_yaw", 0, false)),
        DEG2RAD(configSource.read_float(iniSection, "pose_pitch", 0, false)),
        DEG2RAD(configSource.read_float(iniSection, "pose_roll", 0, false)));
    string operatingMode =
        configSource.read_string(iniSection, "operatingMode", "rate", false);
    cout << "Operating mode : " << operatingMode << endl;
    if (operatingMode == "incremental")
    {
        m_mode = INCREMENTAL_ANGLE;
        cout << "Incremental mode" << endl;
    }
    else if (operatingMode == "integral")
    {
        m_mode = INTEGRATED_ANGLE;
        cout << "Integrated mode" << endl;
    }
    else
    {
        m_mode = RATE;
        cout << "Rate mode" << endl;
    }
    m_com_port =
        configSource.read_string(iniSection, "COM_port_LIN", m_com_port, false);
}

void CGyroKVHDSP3000::changeMode(GYRO_MODE _newMode)
{
    m_mode = _newMode;
    char commande[3];
    switch (m_mode)
    {
        case RATE:
            commande[0] = 'R';
            break;
        case INTEGRATED_ANGLE:
            commande[0] = 'P';
            break;
        case INCREMENTAL_ANGLE:
            commande[0] = 'A';  // incremental.
            break;
    }
    commande[1] = 0x0A;
    commande[2] = 0;
    // we send the command four times to be sure that the command will be
    // interpreted by the sensor.
    if (m_serialPort->Write(commande, 3 * sizeof(char)) <= 0)
    {
        THROW_EXCEPTION("can't write on serial port");
    }
}

void CGyroKVHDSP3000::resetIncrementalAngle(void)
{
    if (m_mode != RATE)
    {
        char commande[3];
        commande[0] = 'Z';
        commande[1] = '\n';
        commande[2] = 0;
        if (m_serialPort->Write(commande, 3 * sizeof(char)) <= 0)
        {
            THROW_EXCEPTION("can't write on serial port");
        }
    }
}