Rangefinder2DClient.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation; either
 * version 2.1 of the License, or (at your option) any later version.
 *
 * This library is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License along with this library; if not, write to the Free Software
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 */
 
#ifndef YARP_DEV_RANGEFINDER2DCLIENT_RANGEFINDER2DCLIENT_H
#define YARP_DEV_RANGEFINDER2DCLIENT_RANGEFINDER2DCLIENT_H
 
 
#include <yarp/os/Network.h>
#include <yarp/os/BufferedPort.h>
#include <yarp/dev/IPreciselyTimed.h>
#include <yarp/dev/IRangefinder2D.h>
#include <yarp/dev/ControlBoardInterfaces.h>
#include <yarp/dev/ControlBoardHelpers.h>
#include <yarp/dev/LaserScan2D.h>
#include <yarp/sig/Vector.h>
#include <yarp/os/Time.h>
#include <yarp/dev/PolyDriver.h>
 
#include <mutex>
 
 
#define DEFAULT_THREAD_PERIOD 20 //ms
const int LASER_TIMEOUT=100; //ms
 
class Rangefinder2DInputPortProcessor :
        public yarp::os::BufferedPort<yarp::dev::LaserScan2D>
{
    yarp::dev::LaserScan2D lastScan;
    std::mutex mutex;
    yarp::os::Stamp lastStamp;
    double deltaT;
    double deltaTMax;
    double deltaTMin;
    double prev;
    double now;
 
    int state;
    int count;
 
public:
 
    inline void resetStat();
 
    Rangefinder2DInputPortProcessor();
 
    using yarp::os::BufferedPort<yarp::dev::LaserScan2D>::onRead;
    void onRead(yarp::dev::LaserScan2D&v) override;
 
    inline int getLast(yarp::dev::LaserScan2D &data, yarp::os::Stamp &stmp);
 
    inline int getIterations();
 
    // time is in ms
    void getEstFrequency(int &ite, double &av, double &min, double &max);
 
    bool getData(yarp::sig::Vector &data);
    yarp::dev::IRangefinder2D::Device_status getStatus();
 
};
 
class Rangefinder2DClient:
        public yarp::dev::DeviceDriver,
        public yarp::dev::IPreciselyTimed,
        public yarp::dev::IRangefinder2D
{
protected:
    Rangefinder2DInputPortProcessor inputPort;
    yarp::os::Port rpcPort;
    std::string local;
    std::string remote;
    yarp::os::Stamp lastTs; //used by IPreciselyTimed
    std::string deviceId;
 
    double scan_angle_min;
    double scan_angle_max;
    double device_position_x;
    double device_position_y;
    double device_position_theta;
    std::string laser_frame_name;
    std::string robot_frame_name;
 
public:
 
    /* DevideDriver methods */
    bool open(yarp::os::Searchable& config) override;
    bool close() override;
 
 
    /* IPreciselyTimed methods */
    yarp::os::Stamp getLastInputStamp() override;
 
    bool getLaserMeasurement(std::vector<yarp::dev::LaserMeasurementData> &data) override;
 
    bool getRawData(yarp::sig::Vector &data) override;
 
    bool getDeviceStatus(Device_status &status) override;
 
    bool getDistanceRange(double& min, double& max) override;
 
    bool setDistanceRange(double min, double max) override;
 
    bool getScanLimits(double& min, double& max) override;
 
    bool setScanLimits(double min, double max) override;
 
    bool getHorizontalResolution(double& step) override;
 
    bool setHorizontalResolution(double step) override;
 
    bool getScanRate(double& rate) override;
 
    bool setScanRate(double rate) override;
 
    bool getDeviceInfo(std::string &device_info) override;
 
};
 
#endif // YARP_DEV_RANGEFINDER2DCLIENT_RANGEFINDER2DCLIENT_H