CRovio.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 CROVIO_H
#define CROVIO_H

#include <mrpt/utils/TCamera.h>
#include <mrpt/hwdrivers/link_pragmas.h>
#include <mrpt/synch/CCriticalSection.h>
#include <mrpt/synch/CThreadSafeVariable.h>
#include <mrpt/slam/CObservationImage.h>

#include <mrpt/hwdrivers/CGenericSensor.h>


namespace mrpt
{
        namespace hwdrivers
        {
                using namespace std;
                using namespace mrpt::slam;
                
                /** A class to interface a Rovio robot (manufactured by WowWee).
                  *  Supports: Simple motion commands, video streaming. 
                  * \ingroup mrpt_hwdrivers_grp
                  */
                class HWDRIVERS_IMPEXP CRovio
                {
                private:
                        mrpt::system::TThreadHandle             m_videoThread;
                        bool    m_videothread_must_exit; 
                        bool    m_videothread_initialized_done;
                        bool    m_videothread_initialized_error;
                        bool    m_videothread_finished;

                        mrpt::slam::CObservationImagePtr buffer_img;
                        mrpt::synch::CCriticalSection buffer_img_cs;


                        /** This function takes a frame and waits until getLastImage ask for it, and so on.
                          */
                        void thread_video();

                        bool send_cmd_action(int act, int speed);

                        bool path_management(int act);

                        bool path_management(int act, const string &path_name);

                        bool general_command(int act, string &response, string &errormsg);


                public:
                        struct TOptions
                        {
                                string IP;
                                string user;
                                string password;

                                mrpt::utils::TCamera cameraParams;              // Mat. cam. preguntar paco

                                TOptions();
                        } options;

                        enum status {idle, driving_home, docking, executing_path, recording_path};

                        struct TRovioState{
                                status state;
                                unsigned int nss;       //Navigation Signal Strength
                                unsigned int wss;       //Wifi Signal Strength
                        };

                        struct TEncoders{
                                int left;
                                int right;
                                int rear;
                                TEncoders()
                                {
                                        left = 0;
                                        right = 0;
                                        rear = 0;
                                }
                        }encoders;


                        /** Establish conection with Rovio and log in its system: Important, fill out "options" members *BEFORE* calling this method.
                          *  \exception std::runtime On errors
                          */ 
                        void initialize(); //string &errormsg_out, string url_out="150.214.109.134", string user_out="admin", string password_out="investigacion");

                        /**     move send Rovio the command to move in the specified direcction
                          * \param direction 'f'->forward, 'b'->backward, 'r'->right, 'l'->left
                          * \return False on error
                          */
                        bool move(char direction, int speed=5 );

                        /** rotate send Rovio the command to rotate in the specified direcction
                          * 'r'->right, 'l'->left
                          * \return False on error
                          */
                        bool rotate(char direction, int speed=5 );

                        /**  Head positions 
                          * \return False on error
                          */ 
                        bool takeHeadUp();
                        bool takeHeadMiddle();
                        bool takeHeadDown();


                        /*  Path commands */ 
                        bool pathRecord();
                        bool pathRecordAbort();
                        bool pathRecordSave(const string &path_name);//Repasar const
                        bool pathDelete(const string &path_name);
                        /** Get list of saved paths
                          */ 
                        bool pathGetList(string &path_list);
                        bool pathRunForward();
                        bool pathRunBackward();
                        bool pathRunStop();
                        bool pathRunPause();
                        bool pathRename(const string &old_name, const string &new_name);


                        /** goHome(bool dock) drives Rovio in front of charging station if the paremeter dock is set to false, otherwise it also docks
                          * \return False on error
                          */
                        bool goHome(bool dock, int speed = 5);

                        /** Loads the rovio camera calibration parameters (of leave the default ones if not found) (See CGenericSensor), then call to "loadConfig_sensorSpecific"
                          *  \exception This method throws an exception with a descriptive message if some critical parameter is missing or has an invalid value.
                          */
                        void  loadConfig(
                                const mrpt::utils::CConfigFileBase &configSource,
                                const std::string                       &section );

                        /** This function launchs a thread with the function "thread_video()" which gets frames into a buffer.
                          * After calling this method, images can be obtained with getNextImageSync()
                          * \return False on error
                          * \sa getNextImageSync
                          */
                        bool retrieve_video();//como la protejo para que no se llame dos veces??????????????????????????????????????????????

                        /** This function stops and joins the thread launched by "retrieve_video()".
                          * \return False on error
                          */
                        bool stop_video();

                        /** Returns the next frame from Rovio's live video stream, after starting the live streaming with retrieve_video()
                          * \return False on error
                          * \sa retrieve_video, captureImageAsync
                          */
                        bool getNextImageSync(CObservationImagePtr& lastImage );

                        /** Returns a snapshot from Rovio, if rectified is set true, the returned image is rectified with the parameters of intrinsic_matrix and distortion_matrix.
                          * This function works asynchronously and does not need to have enabled the live video streaming.
                          * \return False on error
                          * \sa captureImageSync
                          */
                        bool captureImageAsync( CImage&out_img, bool recttified);//string pict_name, 

                        bool isVideoStreamming() const; //!< Return true if video is streaming correctly \sa retrieve_video


//Rovio State
                        /** Returns a TRovioState with internal information of Rovio (State, Navigation Signal Strength, Wifi Signal Strength)
                          * \return False on error
                          */
                        bool getRovioState(TRovioState &state);

                        /** Returns a TEncoders with information of Rovio encoders (since last read, it seems Rovio is continuously reading with unknown sample time)
                          * \return False on error
                          */
                        bool getEncoders(TEncoders &encoders);

                        /** Returns the Rovio's pose
                          * \return False on error
                          */
                        bool getPosition(mrpt::math::TPose2D &out_pose);



                        CRovio();
                        virtual ~CRovio();

                };      // End of class

        } // End of namespace

} // End of namespace

#endif