LMS1xx.h

/*
 * LMS1xx.h
 *
 *  Created on: 09-08-2010
 *  Author: Konrad Banachowicz
 ***************************************************************************
 *   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., 59 Temple Place,                                    *
 *   Suite 330, Boston, MA  02111-1307  USA                                *
 *                                                                         *
 ***************************************************************************/

#ifndef LMS1XX_H_
#define LMS1XX_H_

#include <string>
#include <stdint.h>
#include <sys/time.h>
#include <netinet/tcp.h>

/*!
* @class scanCfg
* @brief Structure containing scan configuration.
*
* @author Konrad Banachowicz
*/
typedef struct _scanCfg {
	/*!
	 * @brief Scanning frequency.
	 * 1/100 Hz
	 */
	int scaningFrequency;

	/*!
	 * @brief Scanning resolution.
	 * 1/10000 degree
	 */
	int angleResolution;

	/*!
	 * @brief Start angle.
	 * 1/10000 degree
	 */
	int startAngle;

	/*!
	 * @brief Stop angle.
	 * 1/10000 degree
	 */
	int stopAngle;
} scanCfg;

/*!
* @class scanDataCfg
* @brief Structure containing scan data configuration.
*
* @author Konrad Banachowicz
*/
typedef struct _scanDataCfg {

	/*!
	 * @brief Output channels.
	 * Defines which output channel is activated.
	 */
	int outputChannel;

	/*!
	 * @brief Remission.
	 * Defines whether remission values are output.
	 */
	bool remission;

	/*!
	 * @brief Remission resolution.
	 * Defines whether the remission values are output with 8-bit or 16bit resolution.
	 */
	int resolution;

	/*!
	 * @brief Encoders channels.
	 * Defines which output channel is activated.
	 */
	int encoder;

	/*!
	 * @brief Position.
	 * Defines whether position values are output.
	 */
	bool position;

	/*!
	 * @brief Device name.
	 * Determines whether the device name is to be output.
	 */
	bool deviceName;
	
	/*!
	 * @brief Timestamp.
	 * Defines whether the scan is to be timestamped.
	 */
	bool timestamp;

	/*!
	 * @brief Output interval.
	 * Defines which scan is output.
	 *
	 * 01 every scan\n
	 * 02 every 2nd scan\n
	 * ...\n
	 * 50000 every 50000th scan
	 */
	int outputInterval;
} scanDataCfg;

/*!
* @class scanData
* @brief Structure containing single scan message.
*
* @author Konrad Banachowicz
*/
typedef struct _scanData {

	/*!
	 * @brief Number of samples in dist1.
	 *
	 */
	int dist_len1;

	/*!
	 * @brief Radial distance for the first reflected pulse
	 *
	 */
	uint16_t dist1[1082];

	/*!
	 * @brief Number of samples in dist2.
	 *
	 */
	int dist_len2;

	/*!
	 * @brief Radial distance for the second reflected pulse
	 *
	 */
	uint16_t dist2[1082];

	/*!
	 * @brief Number of samples in rssi1.
	 *
	 */
	int rssi_len1;

	/*!
	 * @brief Remission values for the first reflected pulse
	 *
	 */
	uint16_t rssi1[1082];

	/*!
	 * @brief Number of samples in rssi2.
	 *
	 */
	int rssi_len2;

	/*!
	 * @brief Remission values for the second reflected pulse
	 *
	 */
	uint16_t rssi2[1082];
	
	/*!
	 * @brief Scan timestamp.
	 * Used to store the timestamp of the scan.
	 */
	struct timeval timestamp;
} scanData;

typedef enum {
	undefined = 0,
	initialisation = 1,
	configuration = 2,
	idle = 3,
	rotated = 4,
	in_preparation = 5,
	ready = 6,
	ready_for_measurement = 7
} status_t;

/*!
* @class LMS1xx
* @brief Class responsible for communicating with LMS1xx device.
*
* @author Konrad Banachowicz
*/

class LMS1xx {
public:
	LMS1xx();
	virtual ~LMS1xx();

	/*!
	* @brief Connect to LMS1xx.
	* @param host LMS1xx host name or ip address.
	* @param port LMS1xx port number.
	*/
	void connect(std::string host, int port = 2111);

	/*!
	* @brief Disconnect from LMS1xx device.
	*/
	void disconnect();

	/*!
	* @brief Get status of connection.
	* @returns connected or not.
	*/
	bool isConnected();

	/*!
	* @brief Start measurements.
	* After receiving this command LMS1xx unit starts spinning laser and measuring.
	*/
	void startMeas();

	/*!
	* @brief Stop measurements.
	* After receiving this command LMS1xx unit stop spinning laser and measuring.
	*/
	void stopMeas();

	/*!
	* @brief Get current status of LMS1xx device.
	* @returns status of LMS1xx device.
	*/
	status_t queryStatus();
	
	/*!
	* @brief Estimate the round trip time in communication with the LMS1xx device.
	* RTT is estimated using exponentially-weighted moving average filter with smoothing parameter alpha = 0.1,
	* and a threshold of 1e-7. When the update difference becomes less than threshold, filtering stops.
	* If one wants tcp_info from getsockopt(), one passes a struct tcp_info pointer.
	* @param tcp_info struct tcp_info pointer
	* @param alpha smoothing factor
	* @param threshold filtering stops when the (absolute) update becomes less than this value
	* @returns RTT estimate.
	*/
	double estimateRoundTripTime(struct tcp_info *tcp_info = NULL, double alpha = 0.1, double threshold = 1e-7);
	
	/*!
	* @brief Sets the LMS1xx clock.
	* Sets the laser device RTC clock.
	* @param round_trip_time estimated round trip time
	* @returns 1 on success, 0 otherwise
	*/
	int setTime(double round_trip_time = 0);

	/*!
	* @brief Log into LMS1xx unit.
	* Increase privilege level, giving ability to change device configuration.
	*/
	void login();

	/*!
	* @brief Get current scan configuration.
	* Get scan configuration :
	* - scanning frequency.
	* - scanning resolution.
	* - start angle.
	* - stop angle.
	* @returns scanCfg structure.
	*/
	scanCfg getScanCfg() const;

	/*!
	* @brief Set scan configuration.
	* Get scan configuration :
	* - scanning frequency.
	* - scanning resolution.
	* - start angle.
	* - stop angle.
	* @param cfg structure containing scan configuration.
	*/
	void setScanCfg(const scanCfg &cfg);
	
	/*!
	* @brief Set laser range sensor IP address.
	* @param new_ip as returned by inet_pton(AF_INET, ..., &new_ip).
	* @returns 1 on success, 0 otherwise
	*/
	int setIP(unsigned long new_ip);
	
	/*!
	* @brief Set scan data configuration.
	* Set format of scan message returned by device.
	* @param cfg structure containing scan data configuration.
	*/
	void setScanDataCfg(const scanDataCfg &cfg);

	/*!
	* @brief Start or stop continuous data acquisition.
	* After reception of this command device start or stop continuous data stream containing scan messages.
	* @param start 1 : start 0 : stop
	*/
	void scanContinous(int start);

	/*!
	* @brief Receive single scan message.
	*
	* @param data pointer to scanData buffer structure.
	*/
	int getData(scanData& data);

	/*!
	* @brief Save data permanently.
	* Parameters are saved in the EEPROM of the LMS and will also be available after the device is switched off and on again.
	*
	*/
	int saveConfig();
	
	/*!
	* @brief Reboot the device (also saves data permanently).
	* Parameters are saved in the EEPROM of the LMS and will also be available after the device is switched off and on again.
	* @returns 1 on success, 0 otherwise
	*/
	int reboot();
	
	/*!
	* @brief The device is returned to the measurement mode after configuration.
	*
	*/
	void startDevice();

private:
	bool connected;
	bool debug;
	char queue[20000];
	int q_len;

	int sockDesc;
};

#endif /* LMS1XX_H_ */