CImpinjRFID.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2014, 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  CImpinjRFID_H
#define  CImpinjRFID_H

#include <mrpt/hwdrivers/CGenericSensor.h>
#include <mrpt/slam/CObservationRFID.h>
#include <mrpt/utils/CConfigFileBase.h>

#include <mrpt/utils/CClientTCPSocket.h>
#include <mrpt/utils/CServerTCPSocket.h>

namespace mrpt
{
        namespace hwdrivers
        {
                /** This class implements an interface to an Impinj RFID reader. This object connects to a program that does the actual communication with the receiver. This is done because the manufacturer only provides libraries for C# and Java. The program that runs the device must be started after this object
                  */
                class HWDRIVERS_IMPEXP CImpinjRFID : public mrpt::hwdrivers::CGenericSensor
                {
                                DEFINE_GENERIC_SENSOR(CImpinjRFID)

                private:

                        /** Poses (Antenna 1)
                         */
                        float pose_x_1, pose_y_1, pose_z_1, pose_yaw_1, pose_pitch_1, pose_roll_1;

                        /** Poses (Antenna 2)
                         */
                        float pose_x_2, pose_y_2, pose_z_2, pose_yaw_2, pose_pitch_2, pose_roll_2;

                        /** Server port
                         */
                        int port;

                        /** IP of the module (usually 127.0.0.1)
                         */
                        std::string IPm;

                        /** Reader name
                         */
                        std::string reader_name;

                        /** Server socket (listens for the incoming connection)
                         */
                        mrpt::utils::CServerTCPSocket *server;

                        /** Client socket (handles the connection to the client)
                         */
                        mrpt::utils::CClientTCPSocket *client;

                        /** Driver executable path
                         */
                        std::string driver_path;

                        /** Connection status
                         */
                        bool connected;

                        /** start the external driver
                         */
                        void startDriver();

                        static void dummy_startDriver(CImpinjRFID *o);


                public:
                        /** Default constructor.
                         */
                        CImpinjRFID();
                        virtual ~CImpinjRFID();

                        /** Connect to the reader.
                         */
                        void connect();

                        void doProcess();

                        void initialize();


                        void  loadConfig_sensorSpecific(
                                const mrpt::utils::CConfigFileBase &configSource,
                                const std::string                       &section);

                        /** Gets the information of the tags as a timestamped observation
                        * NOTE: Deprecated, use getObservations instead. See CGenericSensor documentation. This function is kept for internal use of the module
                        * \return Returns true if the observation was correct, and false otherwise
                        * \sa mrpt::hwdrivers::CGenericSensor
                        */
                        bool getObservation( mrpt::slam::CObservationRFID &obs );


                        /** Close the connection to the reader.
                         */
                        void closeReader();
                }; // End of class def.

        } // End of namespace
} // End of namespace
#endif