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
{
namespace 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