rosaria/Legacy/Aria/src/ArTCMCompassDirect.cpp

/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program 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 General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
Adept MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/

#include "ArExport.h"
#include "ariaOSDef.h"
#include "ArTCMCompassDirect.h"
#include "ArDeviceConnection.h"
#include "ArSerialConnection.h"
#include "ariaUtil.h"

//#define DEBUG_ARTCMCOMPASSDIRECT 1
//#define DEBUG_ARTCMCOMPASSDIRECT_STATS 1

#if defined(DEBUG_ARTCMCOMPASSDIRECT) || defined(DEBUG_ARTCMCOMPASSDIRECT_STATS)
void ArTCMCompassDirect_printTransUnprintable( const char *data, int size){  for(int i = 0; i < size; ++i)  {    if(data[i] < ' ' || data[i] > '~')    {      printf("[0x%X]", data[i] & 0xff);    }    else    {      putchar(data[i]);    }  }}
#endif

AREXPORT ArTCMCompassDirect::ArTCMCompassDirect(ArDeviceConnection *devCon) :
  myDeviceConnection(devCon), myCreatedOwnDeviceConnection(false),
  myNMEAParser("ArTCMCompassDirect"),
  myHCHDMHandler(this, &ArTCMCompassDirect::handleHCHDM)
{
  myNMEAParser.addHandler("HCHDM", &myHCHDMHandler);
}

AREXPORT ArTCMCompassDirect::ArTCMCompassDirect(const char *serialPortName) :
  myCreatedOwnDeviceConnection(true),
  myNMEAParser("ArTCMCompassDirect"),
  myHCHDMHandler(this, &ArTCMCompassDirect::handleHCHDM)
{
  ArSerialConnection *newSerialCon = new ArSerialConnection();
  newSerialCon->setPort(serialPortName);
  newSerialCon->setBaud(9600);
  myDeviceConnection = newSerialCon;
  myNMEAParser.addHandler("HCHDM", &myHCHDMHandler);
}
  

AREXPORT ArTCMCompassDirect::~ArTCMCompassDirect() {
  if(myCreatedOwnDeviceConnection && myDeviceConnection)
    delete myDeviceConnection;
}

bool ArTCMCompassDirect::sendTCMCommand(const char *fmt, ...)
{
  if(!myDeviceConnection) return false;
  if(myDeviceConnection->getStatus() != ArDeviceConnection::STATUS_OPEN) return false;
  va_list args;
  va_start(args, fmt);
  char buf[32];
  vsnprintf(buf, sizeof(buf)-1, fmt, args);
  buf[sizeof(buf)-1] = 0;
  return myDeviceConnection->write(buf, strlen(buf));
}

AREXPORT bool ArTCMCompassDirect::blockingConnect(unsigned long connectTimeout)
{
  ArTime start;
  start.setToNow();
  if(!connect()) return false;
  ArLog::log(ArLog::Normal, "ArTCMCompassDirect: Opened connection, waiting for initial data...");
  while((unsigned long)start.mSecSince() <= connectTimeout)
  {
    if(read(0) > 0)
      return true;
    ArUtil::sleep(100);
  }
  ArLog::log(ArLog::Terse, "ArTCMCompassDirect: Error: No response from compass after %dms.", connectTimeout);
  return false;
}


AREXPORT bool ArTCMCompassDirect::connect()
{
  if(!myDeviceConnection) return false;
  if(myDeviceConnection->getStatus() != ArDeviceConnection::STATUS_OPEN)
  {
    if(!myDeviceConnection->openSimple()) return false;
  }

  if(!sendTCMCommand("h\r"))
    return false;


  // sp= is sampling/send rate, maximum of 8hz. sdo is output format (t for cm
  // protocol or n for nmea).
  if(!sendTCMCommand("h\rsp=8\rsn=m\rsdo=n\rgo\r"))  
    return false;

#ifdef DEBUG_ARTCMCOMPASSDIRECT
  char buf[640];
  memset(buf, 0, 640);
  myDeviceConnection->read(buf, 640, 2000);
  printf("Compass responded to init commands with: %s\n", buf);
#endif

  return true;
}



AREXPORT void ArTCMCompassDirect::commandUserCalibration()
{
  sendTCMCommand("cc\rmpcal=e\rgo\r");
}

AREXPORT void ArTCMCompassDirect::commandStopCalibration()
{
  sendTCMCommand("h\rmpcal=d\rautocal=d\r");
}

AREXPORT void ArTCMCompassDirect::commandContinuousPackets()
{
  sendTCMCommand("go\r");
}

AREXPORT void ArTCMCompassDirect::commandOff()
{
  sendTCMCommand("h\r");
}

AREXPORT void ArTCMCompassDirect::commandOnePacket()
{
  sendTCMCommand("c?\r");
}

AREXPORT void ArTCMCompassDirect::commandAutoCalibration()
{
  sendTCMCommand("h\rcc\rautocal=e\r");
}

AREXPORT int ArTCMCompassDirect::read(unsigned int msWait)
{
  return myNMEAParser.parse(myDeviceConnection);
}

void ArTCMCompassDirect::handleHCHDM(ArNMEAParser::Message m)
{
  myHeading = ArMath::fixAngle(atof((*m.message)[1].c_str()));
#ifdef DEBUG_ARTCMCOMPASSDIRECT 
  printf("XXX ArTCMCompassDirect: recieved HCHDM message with compass heading %f.\n", myHeading);
#endif
  myHaveHeading = true;
  incrementPacketCount();
  invokeHeadingDataCallbacks(myHeading);
}