libs/range_sensor/UrgUtils.h

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#ifndef QRK_URG_UTILS_H
#define QRK_URG_UTILS_H

#include <cstdlib>


namespace qrk
{
  template <class T>
  long urgSerialId(T* urg)
  {
    std::vector<std::string> version_lines;
    if (! urg->versionLines(version_lines)) {
      return -1;
    }
    if (version_lines.size() < 5) {
      return -1;
    }

    std::string& serial_line = version_lines[4];
    if (serial_line.size() < 7) {
      return -1;
    }
    return atol(serial_line.substr(6).c_str());
  }
}

#endif /* !QRK_URG_UTILS_H */