CGyroKVHDSP3000.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     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 |
   +------------------------------------------------------------------------+ */

#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::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::config::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

}
#endif