libs/range_sensor/UrgDevice.h

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#ifndef QRK_URG_DEVICE_H
#define QRK_URG_DEVICE_H

#include "RangeSensor.h"
#include "Coordinate.h"


namespace qrk
{
    class Connection;


    class UrgDevice : public Coordinate, public RangeSensor
    {
    public:

        enum {
            DefaultBaudrate = 115200, 
            DefaultRetryTimes = 8,
            Infinity = 0,

            Off = 0,                  
            On = 1,                   
        };

        UrgDevice(void);
        virtual ~UrgDevice(void);

        const char* what(void) const;

        bool connect(const char* device, long baudrate = DefaultBaudrate);
        void setConnection(Connection* con);
        Connection* connection(void);
        void disconnect(void);
        bool isConnected(void) const;

        long minDistance(void) const;
        long maxDistance(void) const;
        int maxScanLines(void) const;


        void setRetryTimes(size_t times);


        void setCapturesSize(size_t size);


        int scanMsec(void) const;


        void setCaptureMode(RangeCaptureMode mode);


        RangeCaptureMode captureMode(void);


        void setCaptureRange(int begin_index, int end_index);


        void setCaptureFrameInterval(size_t interval);


        void setCaptureTimes(size_t times);


        size_t remainCaptureTimes(void);


        void setCaptureSkipLines(size_t skip_lines);


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


        /*
          \brief Get intensity data and distance data.

          \attention Only Top-URG and Classic-URG supports this fuction (2008-12-24)
        */
        int captureWithIntensity(std::vector<long>& data,
                                 std::vector<long>& intensity_data,
                                 long* timestamp = NULL);


        void stop(void);


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

        long recentTimestamp(void) const;


        bool setLaserOutput(bool on);

        double index2rad(const int index) const;
        int rad2index(const double radian) const;

        void setParameter(const RangeSensorParameter& parameter);
        RangeSensorParameter parameter(void) const;


        bool loadParameter(void);


        bool versionLines(std::vector<std::string>& lines);


        bool reboot(void);


    protected:
        virtual void captureReceived(void);


    private:
        UrgDevice(const UrgDevice& rhs);
        UrgDevice& operator = (const UrgDevice& rhs);

        struct pImpl;
        std::auto_ptr<pImpl> pimpl;
    };
}

#endif /* !QRK_URG_DEVICE_H */