libs/range_sensor/RangeSensor.h

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#ifndef QRK_RANGE_SENSOR_H
#define QRK_RANGE_SENSOR_H

#include "RangeCaptureMode.h"
#include "MathUtils.h"
#include <vector>
#include <string>


namespace qrk
{
  class Connection;
  class RangeSensorParameter;


  class RangeSensor
  {
  public:
    virtual ~RangeSensor(void) {}


    virtual const char* what(void) const = 0;


    virtual bool connect(const char* device, long baudrate) = 0;


    virtual void setConnection(Connection* con) = 0;


    virtual Connection* connection(void) = 0;


    virtual void disconnect(void) = 0;


    virtual bool isConnected(void) const = 0;


    virtual long minDistance(void) const = 0;


    virtual long maxDistance(void) const = 0;


    virtual int maxScanLines(void) const = 0;

    virtual int scanMsec(void) const = 0;

    virtual void setCaptureMode(RangeCaptureMode mode) = 0;
    virtual RangeCaptureMode captureMode(void) = 0;


    virtual int capture(std::vector<long>& data, long* timestamp) = 0;


    virtual int captureWithIntensity(std::vector<long>& data,
                                     std::vector<long>& intensity_data,
                                     long* timestamp) = 0;


    virtual bool setTimestamp(int timestamp = 0, int* response_msec = NULL,
                              int* force_delay_msec = NULL) = 0;


    virtual long recentTimestamp(void) const
    {
      return 0;
    }


    virtual bool setLaserOutput(bool on) = 0;


    virtual double index2rad(const int index) const = 0;


    int index2deg(const int index) const
    {
      return static_cast<int>(floor((180.0 * index2rad(index) / M_PI) + 0.5));
    }


    virtual int rad2index(const double radian) const = 0;


    int deg2index(const int degree) const
    {
      return rad2index(degree * M_PI / 180.0);
    }


    virtual void setParameter(const RangeSensorParameter& parameter) = 0;


    virtual RangeSensorParameter parameter(void) const = 0;
  };
}

#endif /* !QRK_RANGE_SENSOR_H */