CIMUXSens_MT4.h

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

#ifndef CIMUXSens_MT4_H
#define CIMUXSens_MT4_H

#include <mrpt/hwdrivers/CGenericSensor.h>
#include <mrpt/poses/CPose3D.h>

namespace mrpt::hwdrivers
{
/** A class for interfacing XSens 4th generation Inertial Measuring Units
 * (IMUs): MTi 10-series, MTi 100-series.
  *  Usage considerations:
  *    - In Windows, you only need to install XSens drivers.
  *    - In Linux, this class requires the system libraries: libusb-1.0 &
 * libudev (dev packages). Accessing USB devices may require
  *      running the program as super user ("sudo"). To avoid that, Or, install
 * <code> MRPT/scripts/52-xsens.rules </code> in <code>/etc/udev/rules.d/</code>
 * to allow access to all users.
  *
  *  For the older 3rd generation devices, see the class
 * mrpt::hwdrivers::CIMUXSens
  *
  *  \code
  *  PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
  * -------------------------------------------------------
  *   [supplied_section_name]
  *    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
  *    ;sampleFreq  = 100  // The requested rate of sensor packets (default:
 * 100Hz)
  *    ; If a portname is not provided, the first found device will be opened:
  *    ;portname_LIN    = USB002:005
  *    ;portname_WIN    = \\?\usb#vid_2639&pid_0003#...
  *    ;baudRate        = 115200             ; Baudrate for communicating, only
 * if the port is a COM port
  *  \endcode
  *
  *  \note Set the environment variable "MRPT_HWDRIVERS_VERBOSE" to "1" to
 * enable diagnostic information while using this class.
  *
  * \ingroup mrpt_hwdrivers_grp
  */
class CIMUXSens_MT4 : public hwdrivers::CGenericSensor
{
    DEFINE_GENERIC_SENSOR(CIMUXSens_MT4)
   protected:
    /** Baudrate, only for COM ports. */
    int m_port_bauds;
    /** The USB or COM port name (if blank -> autodetect) */
    std::string m_portname;
    int m_sampleFreq;

    uint64_t m_timeStartUI;
    mrpt::system::TTimeStamp m_timeStartTT;

    mrpt::poses::CPose3D m_sensorPose;

    void* /*DeviceClass */ m_dev_ptr;
    void* /*XsDeviceId */ m_devid_ptr;

    /** See the class documentation at the top for expected parameters */
    void loadConfig_sensorSpecific(
        const mrpt::config::CConfigFileBase& configSource,
        const std::string& iniSection);

   public:
    /** Constructor
      */
    CIMUXSens_MT4();

    /** Destructor
      */
    virtual ~CIMUXSens_MT4();

    /** 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 xSens device and configure it for getting orientation data
     */
    void initialize();

};  // end of class

}
#endif