CIbeoLuxETH.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 CIbeoLuxETH_H
#define CIbeoLuxETH_H

#include <mrpt/hwdrivers/CGenericSensor.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/poses/CPoint3D.h>
#include <mrpt/obs/CObservation3DRangeScan.h>
#include <mrpt/comms/CClientTCPSocket.h>

#include <thread>

namespace mrpt::hwdrivers
{
/** This "software driver" implements the communication protocol for interfacing
* a Ibeo Lux laser scanners through an ethernet controller.
    *   This class does not need to be bind, i.e. you do not need to call
* C2DRangeFinderAbstract::bindIO.
    *   Connection is established when user call the turnOn() method. You can
* pass to the class's constructor the Lux's ip address and port.
    *   Device will NOT be configured. Configuration has to be done seperately.
    *
    * To get a laser scan you must proceed like that :
    * \code
    *     CIbeoLuxETH laser(string("192.168.0.10"), 1234);
    *     laser.turnOn();
    *     bool isOutObs, hardwareError;
    *     CObservation2DRangeScan outObs;
    *     laser.doProcessSimple(isOutObs, outObs, hardwareError);
    * \endcode
    *
    * \note This class was contributed by Adrien Barral - Robopec (France)
    * \note And modified by Jan Girlich - University of Hamburg
* \ingroup mrpt_hwdrivers_grp
    */
class CIbeoLuxETH : public mrpt::hwdrivers::CGenericSensor
{
    DEFINE_GENERIC_SENSOR(CIbeoLuxETH)

   public:
    /** Constructor.
        * Note that there is default arguments, here you can customize IP Adress
     * and TCP Port of your device.
        */
    CIbeoLuxETH(
        std::string _ip = std::string("10.152.36.93"),
        unsigned int _port = 12002);
    /** Destructor.
        * Close communcation with the device, and free memory.
        */
    virtual ~CIbeoLuxETH();
    /** This function acquire a laser scan from the device. If an error occured,
     * hardwareError will be set to true.
        * The new laser scan will be stored in the outObservation argument.
        *
        * \exception This method throw exception if the frame received from the
     * LMS 100 contain the following bad parameters :
        *  * Status is not OK
        *  * Data in the scan aren't DIST1 (may be RSSIx or DIST2).
        */
    void doProcess();
    void initialize();
    void start();
    void makeCommandHeader(unsigned char* buffer);
    void makeStartCommand(unsigned char* buffer);
    void makeStopCommand(unsigned char* buffer);
    void makeTypeCommand(unsigned char* buffer);

   private:
    std::string m_ip;
    unsigned int m_port;
    mrpt::comms::CClientTCPSocket m_client;
    unsigned int m_scanFrequency;  // in hertz
    double m_angleResolution;  // in degrees
    double m_startAngle;  // degrees
    double m_stopAngle;  // degrees
    mrpt::poses::CPose3D m_sensorPose;
    double m_maxRange;
    double m_beamApperture;
    bool m_run;
    void dataCollection();
    std::thread dataCollectionThread;
    double convertLayerToRad(int scanlayer);
    double convertTicksToHRad(int hticks, int hticksPerRotation);
    mrpt::poses::CPoint3D convertToCartesian(
        float vrad, float hrad, float distance);
    float vwinkel;
    std::vector<mrpt::obs::CObservation3DRangeScan> m_observations;
    bool m_newObs;
    float m_vAngle;
    unsigned int lastScanNumber;
    unsigned int curScanNumber;

   protected:
    /** Load sensor pose on the robot, or keep the default sensor pose.
        */
    void loadConfig_sensorSpecific(
        const mrpt::config::CConfigFileBase& configSource,
        const std::string& iniSection);
};
}
#endif