Pull Request for AHRS IO Processor (#16)

* Add AHRS IO Proc files into newer pull from dev

* Fix names and built with python script

* Fix pull request comments

* Make edits for the pull request

There is a problem that may be cause by these changes, that being not
closing the handle, since the loop will run forever, I would have to
close the loop on some sort of exit condition. I am not sure if the
handle closes if the process is killed, if so, then I guess it should be
fine.

* Untabify AHRSInputIOProcessor.cpp

* Hmmm

* Revert "Hmmm"

This reverts commit 5a9cb08.

* Add functionality to get roll and pitch angles

This reverts commit e2ea108.

* Change order of #includes fixed build errors...

I have no idea why exactly but the build errors only got fixed when I
changed the order of the includes in AHRSInputIOProcessor.hpp.

* Add Comments Explaining Byte Capture

I added some comments explaining how I am capturing the bytes of the
Euler Angles from the message in the buffer. Quick version here, I first
capute a 2 times the size of the message into a buffer, I then search
for the begining of the message, when I find it, I then jump to the
index where the Angles are stored. I then add each group of 8 bytes for
each angle backwords into arrays to then be converted. I add them in
backwords since the AHRS is big endian and the computer we are
converting them to doubles on is little endian. After each angle's 8
bytes are storred in an array, I then cast them into doubles, where they
can then be sent. Hopefully that makes sense, feel free to ask me any
questions about it.

* Fix confusing math

I fixed the math for getting the bytes for the Angles to make a bit easier to
understand. I also clarfied my comments a bit to try and make them
clearer with the explanation.

* Fix Comments More

I further clarified my comments and also renamed index to dataStart to
make it more clear what it was.

* Rename Attribute Keys

* Fix type in comments

Changed "index" to "dataStart" in diagram to make it more clear.

* Add more specifics to Config message comments

* Change arround data byte capture math

Changed the for loop to loop backwords itself so that the equations for
actually getting the bytes only use +'s. They are still basically the
same equations, but hopefully they are a little more intuitive...

bfs/implementations/breadcrumbs/gen/AHRSInputIOProcessor.cpp

@@ -0,0 +1,23 @@
+
+#include <iostream>
+
+#include "DataSyncThread.hpp"
+#include "AHRSInputIOProcessor.hpp"
+
+
+int main()
+{
+	IOProcessor* client = new AHRSInputIOProcessor;
+
+	if (!client->init())
+	{
+		while (client->loopCondition())
+			client->loop();
+
+		int result = client->close();
+		delete client;
+		return result;
+	}
+
+	return 0;
+}

bfs/implementations/breadcrumbs/include/AHRSInputIOProcessor.hpp

@@ -0,0 +1,38 @@
+/*
+*
+* This is the IO Processor for the Xsens MTi-630 AHRS:
+* https://www.xsens.com/products/mti-600-series
+* The AHRS is able to calculate a lot of different orientational data,
+* we are specfically using it to find the Yaw Euler Angle.
+* Currently you must manually specify which COM port the device is connected
+* to, this is right at the begining of the CreateFile() method call.
+* By defualt it is set to COM8, you may have to change it to the correct port
+* on your system. You can find the corrct port manually by opening Device Manager,
+* under "Ports(COM & LPT)" you can see the ports detected by your system.
+*/
+
+#ifndef AHRS_INPUT_IO_PROCESSOR_HPP
+#define AHRS_INPUT_IO_PROCESSOR_HPP
+
+#include "IOProcessor.hpp"
+#include "DataSyncThread.hpp"
+#include "Attribute.hpp"
+
+#include <windows.h>
+#include <iostream>
+
+class AHRSInputIOProcessor : public IOProcessor
+{
+public:
+    using IOProcessor::IOProcessor;
+
+    void loop();
+    bool loopCondition();
+    int configAHRS();   // Initialize the AHRS for the first time
+private:
+    int iterations = 10;
+    bool configured = false;
+    HANDLE hSerial;
+};
+
+#endif

bfs/implementations/breadcrumbs/io_procs/AHRSInputIOProcessor.cpp

@@ -0,0 +1,184 @@
+#include "AHRSInputIOProcessor.hpp"
+
+/*
+ * Return Values:
+ * 0 : No Errors.
+ * 1 : Serial port does not exist.
+ * 2 : Some other error occurred.
+ * 3 : Error getting state.
+ * 4 : Error setting serial port state
+ * 5 : Error occured while setting timoemouts.
+ * 6 : Error occured while trying to send GoToConfig message.
+ * 7 : Error occured while trying to send SetOutputConfiguration message.
+ * 8 : Error occured while trying to send GoToMeasurment message.
+*/
+int AHRSInputIOProcessor::configAHRS()
+{
+    hSerial = CreateFile("COM8",						// The COM port to connect to, may have to be changed
+                          GENERIC_READ | GENERIC_WRITE,	// depending on what COM port gets selected.
+                          0,
+                          0,
+                          OPEN_EXISTING,
+                          FILE_ATTRIBUTE_NORMAL,
+                          0);
+
+    if (hSerial == INVALID_HANDLE_VALUE)
+    {
+        if(GetLastError() == ERROR_FILE_NOT_FOUND)
+        {
+            std::cerr << "Serial port does not exist." << std::endl;
+            return 1;
+        }
+        std::cerr << "Some other error occurred." << std::endl;
+        return 2;
+    }
+
+    DCB dcb = { 0 };
+    dcb.DCBlength = sizeof(dcb);
+
+    if (!GetCommState(hSerial, &dcb))
+    {
+        std::cerr << "Error getting state." << std::endl;
+        return 3;
+    }
+
+    dcb.BaudRate = CBR_115200; // defualt baud rate of MT
+    dcb.ByteSize = 8;
+    dcb.StopBits = ONESTOPBIT;
+    dcb.Parity = NOPARITY;
+
+    if (!SetCommState(hSerial, &dcb))
+    {
+        std::cerr << "Error setting serial port state." << std::endl;
+        return 4;
+    }
+
+    COMMTIMEOUTS timeouts = {0};
+
+    timeouts.ReadIntervalTimeout = 50;
+    timeouts.ReadTotalTimeoutConstant = 50;
+    timeouts.ReadTotalTimeoutMultiplier = 10;
+    timeouts.WriteTotalTimeoutConstant = 50;
+    timeouts.WriteTotalTimeoutMultiplier = 10;
+
+    if (!SetCommTimeouts(hSerial, &timeouts))
+    {
+        std::cerr << "Error occured while setting timoemouts." << std::endl;
+        return 5;
+    }
+
+    std::cout << "Connection established!" << std::endl;
+    std::cout << "Setting up Config..." << std::endl;
+
+	// This is the GoToConfig message, MID 48
+	// Switch the active state of the device from Measurment State to Config State.
+    unsigned char wBuff1[] = {0xFA,0xFF,0x30,0x00,0xD1};
+    DWORD dwBytesWritten = 0; // Number of bytes actually written
+
+    if (!WriteFile(hSerial, wBuff1, 6, &dwBytesWritten, NULL))
+    {
+        std::cerr << "Error occured while trying to send GoToConfig message." << std::endl;
+        return 6;
+    }
+
+	// This is the SetOutputConfiguration message, MID 192
+	// Set the output configuration of the device.
+    unsigned char wBuff2[] = {0xFA,0xFF,0xC0,0x04,0x20,0x33,0x00,0x00,0xEA};
+    dwBytesWritten = 0;
+
+    if (!WriteFile(hSerial, wBuff2, 10, &dwBytesWritten, NULL))
+    {
+        std::cerr << "Error occured while trying to send SetOutputConfiguration message." << std::endl;
+        return 7;
+    }
+
+	// This is the GoToMeasurment message, MID 16
+	// Switch the active state of the device from Config State to Measurment State.
+    unsigned char wBuff3[] = {0xFA,0xFF,0x10,0x00,0xF1};
+    dwBytesWritten = 0;
+
+    if (!WriteFile(hSerial, wBuff3, 6, &dwBytesWritten, NULL))
+    {
+        std::cerr << "Error occured while trying to send GoToMeasurment message." << std::endl;
+        return 8;
+    }
+
+    configured = true;
+    return 0;
+}
+
+bool AHRSInputIOProcessor::loopCondition()
+{
+    return true;
+}
+
+void AHRSInputIOProcessor::loop()
+{
+    if (!configured)
+        configAHRS();
+
+    unsigned char szBuff[64 + 1] = {0}; // Buffer size
+    DWORD dwBytesRead = 0; // Number of bytes actually read
+
+    if (!ReadFile(hSerial, szBuff, 64, &dwBytesRead, NULL))
+    {
+        std::cerr << "Error occured while trying to read bytes." << std::endl;
+    }
+
+    /* This gets the index of the bytes for the Euler angles in the captured
+     * buffer (szBuff). First, it finds the first byte of the message (i). Then,
+     * it finds the 7th index of the message (dataStart). This is where the first
+     * byte of the roll angle is. This allows me loop backward through each group
+     * of bytes, since the order needs to be reversed because the AHRS is in Big
+     * Endian.
+     
+     * i is where the message starts in the buffer.
+     * dataStart = i + 7, which is where the data we want starts (for Roll).
+     * To find Pitch and Yaw, we add 8 and 16 respectivly.
+     *
+     * MESSAGE STRUCTURE:
+     * Roll Angle Bytes = RX, Pitch Angle Bytes = PX, Yaw Angle Bytes = YX
+     *     +-------------------------+-------------------------+-------------------------+
+     *     |          Roll           |          Pitch          |           Yaw           |
+     *     +-------------------------+-------------------------+-------------------------+
+     *     | R1 R2 R3 R4 R5 R6 R7 R8 | P1 P2 P3 P4 P5 P6 P7 P8 | Y1 Y2 Y3 Y4 Y5 Y6 Y7 Y8 |
+     *     +-------------------------+-------------------------+-------------------------+
+     * ... | 7  8  9  10 11 12 13 14 | 15 16 17 18 19 20 21 22 | 23 24 25 26 27 28 29 30 | ...
+     *     | ^                       | ^                       | ^                       |
+     *     |dataStart                |dataStart + 8            |dataStart + 16           |
+     *     +-------------------------+-------------------------+-------------------------+
+    */ 
+    int dataStart = -1;
+    for (int i=0; i < 32; i++)
+    {
+        if (szBuff[i] == 0xFA && szBuff[i+1] == 0xFF && szBuff[i+2] == 0x36)
+        {
+            dataStart = i + 7;
+            break;
+        }
+    }
+
+    unsigned char rollArray[8];
+    unsigned char pitchArray[8];
+    unsigned char yawArray[8];
+    // Puts the bytes for each angle in their own array backwards, since they are sent in big endian
+    if (dataStart != -1)
+    {
+        for (int i = 7; i > -1; i--)
+        {
+            rollArray[i] = szBuff[dataStart + i];
+            pitchArray[i] = szBuff[dataStart + i + 8];
+            yawArray[i] = szBuff[dataStart + i + 16];
+        }
+    }
+
+    double doubleRoll = *reinterpret_cast<double* const>(rollArray);
+    double doublePitch = *reinterpret_cast<double* const>(pitchArray);
+    double doubleYaw = *reinterpret_cast<double * const>(yawArray);
+    Attribute attRoll("XSIMUROL", 8, &doubleRoll);
+    getComms()->sendAttribute(attRoll);
+    Attribute attPitch("XSIMUPIT", 8, &doublePitch);
+    getComms()->sendAttribute(attPitch);
+    Attribute attYaw("XSIMUYAW", 8, &doubleYaw);
+    getComms()->sendAttribute(attYaw);
+}