CRoboPeakLidar.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 CRoboPeakLidar_H
#define CRoboPeakLidar_H

#include <mrpt/poses/CPose3D.h>
#include <mrpt/hwdrivers/C2DRangeFinderAbstract.h>
#include <mrpt/containers/circular_buffer.h>

namespace mrpt::hwdrivers
{
/** Interfaces a Robo Peak LIDAR laser scanner.
  *
  *  See the example "samples/RoboPeakLidar_laser_test" and the application
 * "rawlog-grabber" for a ready-to-use application to gather data from the
 * scanner.
  *
  *  \code
  *  PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
  * -------------------------------------------------------
  *   [supplied_section_name]
  *    COM_port_WIN = COM3
  *    COM_port_LIN = ttyS0
  *    pose_x=0 // Laser range scaner 3D position in the robot (meters)
  *    pose_y=0
  *    pose_z=0
  *    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
  * \note Class introduced in MRPT 1.2.2
  * \ingroup mrpt_hwdrivers_grp
  */
class CRoboPeakLidar : public C2DRangeFinderAbstract
{
    DEFINE_GENERIC_SENSOR(CRoboPeakLidar)
   public:
    /** Constructor */
    CRoboPeakLidar();
    /** Destructor: turns the laser off. */
    virtual ~CRoboPeakLidar();

    /** Attempts to connect and turns the laser on. Raises an exception on
     * error. */
    virtual void initialize();

    // See base class docs
    virtual void doProcessSimple(
        bool& outThereIsObservation,
        mrpt::obs::CObservation2DRangeScan& outObservation,
        bool& hardwareError);

    /** If set to non-empty, the serial port will be attempted to be opened
     * automatically when this class is first used to request data from the
     * laser.  */
    void setSerialPort(const std::string& port_name);
    /** Returns the currently set serial port \sa setSerialPort */
    const std::string getSerialPort() { return m_com_port; }
    /** See base class docs */
    virtual bool turnOn();
    /** See base class docs */
    virtual bool turnOff();

    /** Returns true if the device is connected & operative */
    bool getDeviceHealth() const;

    /** Closes the comms with the laser. Shouldn't have to be directly needed by
     * the user */
    void disconnect();

   protected:
    /** The sensor 6D pose: */
    poses::CPose3D m_sensorPose;
    std::string m_com_port;
    int m_com_port_baudrate;
    void* m_rplidar_drv;  // Opaque "RPlidarDriver*"

    /** Returns true if communication has been established with the device. If
     * it's not,
      *  try to create a comms channel.
      * \return false on error.
      */
    bool checkCOMMs();

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

};  // End of class

}
#endif