rosaria/Legacy/Aria/include/ArSonarMTX.h

/*
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
*/
#ifndef ARSONARMTX_H
#define ARSONARMTX_H

#include "ariaTypedefs.h"
#include "ArRangeDevice.h"
#include "ArFunctor.h"
#include "ArRobot.h"
#include "ArRobotPacket.h"



// Packets are in the format of 
// 2 bytes header (0xfa 0xfb)
// 1 byte length
// 1 byte command
// xx bytes command specific / args
// 2 bytes checksum
//
// Alive packet 
//		request 	- 0xfa 0xfb 0x03 0x00 0x00 0x00
//		response 	- 0xfa 0xfb 0x03 0x00 0x00 0x00
//
// Start Scan packet 
//		request 	- 0xfa 0xfb 0x03 0x01 0x00 0x01
//		reading	 	- 0xfa 0xfb 0x07 0x01 0x0b 0x00 0xff 0xff 0x02 0xf5
//
// Stop Scan packet 
//		request 	- 0xfa 0xfb 0x03 0x02 0x00 0x02
//
// Reset packet
//		request 	- 0xfa 0xfb 0x03 0x03 0x00 0x03
//
// Get Number of Transducers (12 here)
//		request 	- 0xfa 0xfb 0x03 0x11 0x00 0x11
//		response 	- 0xfa 0xfb 0x04 0x11 0x0c 0x11 0x0c
//
// Get Echo Sample Size packet (also called max range)
//		request 	- 0xfa 0xfb 0x04 0x14 0x00 0x14 0x00
//		response 	- 0xfa 0xfb 0x06 0x14 0x01 0x00 0x01 0x14 0x01
//    note: byte 5 (0x01) is transducer # (starts at 0)
//    note: bytes 6 & 7 are value                              
//
// Get Gain packet 
//		request 	- 0xfa 0xfb 0x04 0x17 0x00 0x17 0x00
//		response 	- 0xfa 0xfb 0x05 0x17 0x00 0x05 0x17 0x04
//    note: byte 5 (0x01) is transducer # (starts at 0)
//    note: bytes 6 is gain                
//
// Get Mask
//		request 	- 0xfa 0xfb 0x03 0x12 0x00 0x12
//		response 	- 0xfa 0xfb 0x05 0x12 0xff 0x0f 0x12 0xf0
//
// Get Number of Thresholds
//		request 	- 0xfa 0xfb 0x03 0x18 0x00 0x18
//		response 	- 0xfa 0xfb 0x04 0x18 0x03 0x18 0x03
//
// Get Sonar Delay
//		request 	- 0xfa 0xfb 0x03 0x13 0x00 0x13
//		response 	- 0xfa 0xfb 0x04 0x13 0x01 0x13 0x01
//
// Get Thresholds
//		request 	- 0xfa 0xfb 0x04 0x19 0x00 0x19 0x00
//		response 	- 0xfa 0xfb 0x0a 0x19 0x00 0xb8 0x0b 0xdc 0x05 0xd0 0x07 0x7d 0x17
//		note: byte 5 (0x00) is transducer #
//
// Get Version
//		request 	- 0xfa 0xfb 0x03 0x10 0x00 0x10
//		response 	- 0xfa 0xfb 0x04 0x10 0x01 0x10 0x01
//
// Set Echo Sample Size (also set max range)
//		request 	- 0xfa 0xfb 0x06 0x24 0x00 0x02 0x00 0x26 0x00
//		note: byte 5 (0x00) is transducer #
//		note: there is no response - use get echo sample size to test
//
// Set Gain
//		request 	- 0xfa 0xfb 0x05 0x27 0x00 0x05 0x27 0x05
//		note: byte 5 (0x00) is transducer #, gain is byte 6
//		note: there is no response - use get gain to test
//
// Set Mask
//		request 	- 0xfa 0xfb 0x05 0x22 0xc0 0x81 0x22 0x41
//		note: byte 5 & 6 are the masks
//		note: there is no response - use get mask test
//
// Set Sonar Delay
//		request 	- 0xfa 0xfb 0x04 0x23 0xd9 0x23 0xd9
//		note: there is no response - use get sonar delay to test
//
// Set Thresholds
//		request 	- 0xfa 0xfb 0x0a 0x29 0x00 0x38 0xae 0x06 0xaf 0xc9 0x63 0x31 0xc0
//		note: byte 5 is transducer number
//		note: there is no response - use get thresholds to test
//


/// Receives sonar data from an MTX robot
/// Use ArSonarConnector to establish the connection and create and initiate the ArSonarMTX thread.
/// @since 2.8.0
class ArSonarMTX : public ArASyncTask
{
public:
  /// Constructor
  AREXPORT ArSonarMTX( 
			  int sonarBoardNum = 0,
				const char * name = "MTXSonar", ArDeviceConnection *conn = NULL,
			 ArRobot *robot = NULL);
  /// Destructor
  AREXPORT virtual ~ArSonarMTX();

  /// Sets the robot pointer, also attaches its process function to the
  /// robot as a Sensor Interpretation task.
  AREXPORT virtual void setRobot(ArRobot *robot);

	AREXPORT int getBoardNum(void)
		{ return myBoardNum; }

  /// Sets the device this instance receives packets from
  AREXPORT void setDeviceConnection(ArDeviceConnection *conn);
  /// Gets the device this instance receives packets from
  AREXPORT ArDeviceConnection *getDeviceConnection(void);

  /// Very Internal call that gets the packet sender, shouldn't be used
  ArRobotPacketSender *getPacketSender(void)
    { return mySender; }
  /// Very Internal call that gets the packet sender, shouldn't be used
  ArRobotPacketReceiver *getPacketReceiver(void)
    { return myReceiver; }

  AREXPORT virtual bool blockingConnect(bool sendTracking, bool recvTracking);
	/// Connect used for debug replay
  AREXPORT virtual bool fakeConnect();
  AREXPORT virtual bool disconnect(void);
  AREXPORT virtual bool isConnected(void) { return myIsConnected; }
	AREXPORT virtual bool isTryingToConnect (void)
	{
		if (myStartConnect)
			return true;
		else if (myTryingToConnect)
			return true;
		else
			return false;
	}
  /// Logs the information about the sensor
  AREXPORT void log(void);

  /// Lock this device
  AREXPORT virtual int lockDevice() { return(myDeviceMutex.lock());}
  /// Try to lock this device
  AREXPORT virtual int tryLockDevice() {return(myDeviceMutex.tryLock());}
  /// Unlock this device
  AREXPORT virtual int unlockDevice() {return(myDeviceMutex.unlock());}

  AREXPORT virtual const char *getName(void) const;

  AREXPORT virtual const char *getNameWithBoard(void) const;

  AREXPORT void	setInfoLogLevel(ArLog::LogLevel infoLogLevel)
  { myInfoLogLevel = infoLogLevel; }

  /// Gets the default port type for the sonar
  const char *getDefaultPortType(void) { return myDefaultPortType.c_str(); }

  /// Gets the default port type for the sonar
  const char *getDefaultTcpPort(void) { return myDefaultTcpPort.c_str(); }

  /// Sets the numter of seconds without a response until connection assumed lost
  AREXPORT virtual void setConnectionTimeoutSeconds(double seconds)
    { ArLog::log(ArLog::Normal, 
		 "%s::setConnectionTimeoutSeconds: Setting timeout to %g secs", 
		 getName(), seconds);
      myLastReading.setToNow(); myTimeoutSeconds = seconds; }
  /// Gets the number of seconds without a response until connection assumed lost
  AREXPORT virtual double getConnectionTimeoutSeconds(void)
	{return myTimeoutSeconds; }
	/// check for lost connections
	AREXPORT bool checkLostConnection(void);
	/// disconnect 
	AREXPORT void disconnectOnError(void);
  /// Gets the time data was last receieved
  ArTime getLastReadingTime(void) { return myLastReading; }
  /// Gets the number of sonar readings received in the last second
  AREXPORT int getReadingCount(void);
  // Function called in sensorInterp to indicate that a
  // reading was received
  AREXPORT virtual void internalGotReading(void);

  AREXPORT bool sendAlive();
  AREXPORT bool sendReset();
  AREXPORT bool sendStart();
  AREXPORT bool sendStop();
  AREXPORT bool sendGetTransducerCount();
  AREXPORT bool sendGetGain(unsigned char transducerNumber);
  AREXPORT bool sendSetGain(unsigned char transducerNumber, unsigned char gain);
  AREXPORT bool sendGetMaxRange(unsigned char transducerNumber);
  AREXPORT bool sendSetMaxRange(unsigned char transducerNumber, int echoSampleSize);
  AREXPORT bool sendGetThresholds(unsigned char transducerNumber);
  AREXPORT bool sendSetThresholds(unsigned char transducerNumber, int thres);
	AREXPORT bool sendGetNumThresholdRanges();
  /*
	AREXPORT bool sendGetNoiseDelta(unsigned char transducerNumber);
  AREXPORT bool sendSetNoiseDelta(unsigned char transducerNumber, int noiseDelta);
	*/
  AREXPORT bool sendGetDelay();
  AREXPORT bool sendSetDelay(unsigned char delay);
  AREXPORT bool sendSetMask(unsigned char maskLsb, unsigned char maskMsb);
  AREXPORT bool sendGetMask();
	AREXPORT bool validateTransducers();
	AREXPORT bool validateGain();
	AREXPORT bool validateDelay();
	AREXPORT bool validateThresholds();
	AREXPORT bool validateMaxRange();
	/*
	AREXPORT bool validateNoiseDelta();
	*/
	AREXPORT bool validateNumThresholdRanges();
  AREXPORT bool requestFirmwareVersion();
  AREXPORT bool queryFirmwareVersion();

  /// Adds a callback for when disconnection happens because of an error
  void addDisconnectOnErrorCB(ArFunctor *functor, 
			     int position = 51) 
    { myDisconnectOnErrorCBList.addCallback(functor, position); }

  /// Removes a callback for when disconnection happens because of an error
  void remDisconnectOnErrorCB(ArFunctor *functor)
    { myDisconnectOnErrorCBList.remCallback(functor); }

  /// Number of Transducers from board query
	int getNumTransducers(void) const
		{ return myNumTransducers; }
  /// Number of Configured Transducers
	int getNumConfiguredTransducers(void) const
		{ return myNumConfiguredTransducers; }
  /// Board Delay
	int getBoardDelay(void) const
		{ return myBoardDelay; }
  /// 
	int getBoardGain(void) const
		{ return myBoardGain; }
  ///
	/*
	int getBoardNoiseDelta(void) const
    { return myBoardNoiseDelta; }
	*/
  /// 
	int getBoardDetectionThreshold(void) const
		{ return myBoardDetectionThreshold; }
  /// 
	int getBoardMaxRange(void) const
		{ return myBoardMaxRange; }

	bool getBoardUseForAutonomousDriving(void) const
		{ return myBoardUseForAutonomousDriving; }

  /// 
	int getUnitMapping(int unit) const
		{
		std::map<int, std::map<int, int> >::const_iterator iter = 
				mySonarMap.find(unit);
		if (iter == mySonarMap.end()) 
			return -1;
		else {
			std::map<int, int>unitMap = iter->second;
			return unitMap[SONAR_MAPPING];
		} }

  /// 
	int getUnitX(int unit) const
		{
		std::map<int, std::map<int, int> >::const_iterator iter = 
				mySonarMap.find(unit);
		if (iter == mySonarMap.end()) 
			return -1;
		else {
			std::map<int, int>unitMap = iter->second;
			return unitMap[SONAR_X];
		} }

  /// 
	int getUnitY(int unit) const
		{
		std::map<int, std::map<int, int> >::const_iterator iter = 
				mySonarMap.find(unit);
		if (iter == mySonarMap.end()) 
			return -1;
		else {
			std::map<int, int>unitMap = iter->second;
			return unitMap[SONAR_Y];
		} }

  /// 
	int getUnitTh(int unit) const
		{
		std::map<int, std::map<int, int> >::const_iterator iter = 
				mySonarMap.find(unit);
		if (iter == mySonarMap.end()) 
			return -1;
		else {
			std::map<int, int>unitMap = iter->second;
			return unitMap[SONAR_TH];
		} }

  /// 
	int getUnitGain(int unit) const
		{
		std::map<int, std::map<int, int> >::const_iterator iter = 
				mySonarMap.find(unit);
		if (iter == mySonarMap.end()) 
			return -1;
		else {
			std::map<int, int>unitMap = iter->second;
			return unitMap[SONAR_GAIN];
		} }

  /// 
	int getUnitDetectionThres(int unit) const
		{
		std::map<int, std::map<int, int> >::const_iterator iter = 
				mySonarMap.find(unit);
		if (iter == mySonarMap.end()) 
			return -1;
		else {
			std::map<int, int>unitMap = iter->second;
			return unitMap[SONAR_DETECTION_THRES];
		} }

  /// 
	/*
	int getUnitNoiseDelta(int unit) const
		{
		std::map<int, std::map<int, int> >::const_iterator iter = 
				mySonarMap.find(unit);
		if (iter == mySonarMap.end()) 
			return -1;
		else {
			std::map<int, int>unitMap = iter->second;
			return unitMap[SONAR_NOISE_DELTA];
		} }
	*/
#if 0
  /// 
	int getUnitThresClose(int unit) const
		{
		std::map<int, std::map<int, int> >::const_iterator iter = 
				mySonarMap.find(unit);
		if (iter == mySonarMap.end()) 
			return -1;
		else {
			std::map<int, int>unitMap = iter->second;
			return unitMap[SONAR_THRES_CLOSE];
		} }

  /// 
	int getUnitThresMed(int unit) const
		{
		std::map<int, std::map<int, int> >::const_iterator iter = 
				mySonarMap.find(unit);
		if (iter == mySonarMap.end()) 
			return -1;
		else {
			std::map<int, int>unitMap = iter->second;
			return unitMap[SONAR_THRES_MED];
		} }

  /// 
	int getUnitThresFar(int unit) const
		{
		std::map<int, std::map<int, int> >::const_iterator iter = 
				mySonarMap.find(unit);
		if (iter == mySonarMap.end()) 
			return -1;
		else {
			std::map<int, int>unitMap = iter->second;
			return unitMap[SONAR_THRES_FAR];
		} }
#endif
  /// 
	int getUnitLastReading(int unit) const
		{
		std::map<int, std::map<int, int> >::const_iterator iter = 
				mySonarMap.find(unit);
		if (iter == mySonarMap.end()) 
			return -1;
		else {
			std::map<int, int>unitMap = iter->second;
			return unitMap[SONAR_LAST_READING];
		} }

	int getFirmwareVersion(void) const
		{ return myFirmwareVersion; }

	bool turnOnTransducers();

	bool turnOffTransducers();

	bool disableForAutonomousDriving();

enum Headers {
	HEADER1=0xfa,
	//HEADER2=0xfb
	HEADER2=0xf5 
	};



protected:
  ArDeviceConnection *myConn;

  std::string myName;
  char myNameWithBoard[100];
	std::string myDefaultPortType;
	std::string myDefaultTcpPort;

  double myTimeoutSeconds;
  bool myRobotRunningAndConnected;

	bool myTransducersAreOn;

  ArTime myLastReading;

  // packet count
  time_t myTimeLastReading;
  int myReadingCurrentCount;
  int myReadingCount;

  ArCallbackList myDisconnectOnErrorCBList;
	
	ArRobot *myRobot;
  ArFunctorC<ArSonarMTX> myProcessCB;

  AREXPORT virtual void sonarSetName(const char *name);
  AREXPORT virtual void * runThread(void *arg);
	
  void sensorInterp(void);
  void failedToConnect(void);
  void clear(void);
  bool myIsConnected;
  bool myTryingToConnect;
  bool myStartConnect;
	
	int myBoardNum;
	int myNumTransducers;
	int myNumConfiguredTransducers;
	unsigned char myVersion;
	//unsigned char mySonarDelay;
	bool myWarnedAboutExtraSonar;

	unsigned int myBoardDelay;
	unsigned int myBoardGain;
	/*
	unsigned int myBoardNoiseDelta;
	*/
	unsigned int myBoardDetectionThreshold;
	unsigned int myBoardMaxRange;

	bool myBoardUseForAutonomousDriving;

	unsigned char myTransducerMaskLSB;
	unsigned char myTransducerMaskMSB;

	unsigned char myAutonomousDrivingTransducerMaskLSB;
	unsigned char myAutonomousDrivingTransducerMaskMSB;

	// first index is transducer reletive to this board
	// second index is defined below 
  std::map<int, std::map<int, int> > mySonarMap;
  enum SonarInfo 
  { 
		SONAR_IS_CONFIGURED,
		SONAR_MAPPING,
		SONAR_X,
		SONAR_Y,
		SONAR_TH,
		SONAR_GAIN,
		/*
		SONAR_NOISE_DELTA,
		*/
		SONAR_DETECTION_THRES,
		SONAR_MAX_RANGE,
		SONAR_USE_FOR_AUTONOMOUS_DRIVING,
		SONAR_LAST_READING
  };

enum Sizes {
	maxTransducers=16
	};

enum Commands {
 ALIVE=0x00,
 START_SCAN=0x01,
 STOP_SCAN=0x02,
 RESET=0x03,
 TAKE_SELF_ECHO=0x04,
 GET_VERSION=0x10,
 GET_NUM_TRANDUCERS=0x11,
 GET_TRANSDUCER_MASK=0x12,
 SET_TRANSDUCER_MASK=0x22,
 GET_SONAR_DELAY=0x13,
 SET_SONAR_DELAY=0x23,
 GET_ECHO_SAMPLE_SIZE=0x14,
 SET_ECHO_SAMPLE_SIZE=0x24,
 GET_GAIN=0x17,
 SET_GAIN=0x27,
 NUM_THRESHOLD_RANGES=0x18,
 GET_THRESHOLDS=0x19,
 SET_THRESHOLDS=0x29,
 GET_NOISE_DELTA=0x1A,
 SET_NOISE_DELTA=0x2A
	};
	
	bool mySendTracking;
	bool myRecvTracking;

  ArLog::LogLevel myLogLevel;

  //ArSonarMTXPacketReceiver myReceiver;
  ArRobotPacketReceiver *myReceiver;
  ArRobotPacketSender *mySender;

  ArMutex myPacketsMutex;
  ArMutex myDataMutex;
	ArMutex myDeviceMutex;
	
  ArLog::LogLevel myInfoLogLevel;
	
  //std::list<ArSonarMTXPacket *> myPackets;
  std::list<ArRobotPacket *> myPackets;

	int myFirmwareVersion;

  ArTime myPrevSensorIntTime;

  ArFunctorC<ArSonarMTX> mySensorInterpTask;
  ArRetFunctorC<bool, ArSonarMTX> myAriaExitCB;

};



#endif // ARSONARDEVICE_H