00001 #ifndef QRK_LIDAR_H
00002 #define QRK_LIDAR_H
00003 
00016 #include <vector>
00017 #include <cstddef>
00018 
00019 
00020 namespace qrk
00021 {
00023     class Lidar
00024     {
00025     public:
00026         typedef enum {
00027             Distance,            
00028             Distance_intensity,  
00029             Multiecho,           
00030             Multiecho_intensity, 
00031         } measurement_type_t;
00032 
00033         typedef enum {
00034             Serial,
00035             Ethernet,
00036         } connection_type_t;
00037 
00038         virtual ~Lidar(void)
00039         {
00040         }
00041 
00042         virtual const char* what(void) const = 0;
00043 
00044         virtual bool open(const char* device_name, long baudrate,
00045                           connection_type_t type) = 0;
00046         virtual void close(void) = 0;
00047         virtual bool is_open(void) const = 0;
00048 
00049         virtual void set_timeout_msec(int msec) = 0;
00050 
00051         virtual bool laser_on(void) = 0;
00052         virtual bool laser_off(void) = 0;
00053 
00054         virtual void reboot(void) = 0;
00055 
00056         virtual void sleep(void) = 0;
00057         virtual void wakeup(void) = 0;
00058         virtual bool is_stable(void) = 0;
00059 
00061         virtual bool start_measurement(measurement_type_t type,
00062                                        int scan_times, int skip_scan) = 0;
00063 
00065         virtual bool get_distance(std::vector<long>& data,
00066                                   long *time_stamp) = 0;
00067         virtual bool get_distance_intensity(std::vector<long>& data,
00068                                             std::vector<unsigned short>&
00069                                             intensity,
00070                                             long *time_stamp) = 0;
00071 
00072         virtual bool get_multiecho(std::vector<long>& data_multi,
00073                                    long* time_stamp) = 0;
00074 
00075         virtual bool get_multiecho_intensity(std::vector<long>& data_multiecho,
00076                                              std::vector<unsigned short>&
00077                                              intensity_multiecho,
00078                                              long* time_stamp) = 0;
00079 
00080         virtual bool set_scanning_parameter(int first_step, int last_step,
00081                                             int skip_step) = 0;
00082 
00084         virtual void stop_measurement(void) = 0;
00085 
00087         virtual bool set_sensor_time_stamp(long time_stamp) = 0;
00088 
00090         virtual double index2rad(int index) const = 0;
00091         virtual double index2deg(int index) const = 0;
00092         virtual int rad2index(double radian) const = 0;
00093         virtual int deg2index(double degree) const = 0;
00094         virtual int rad2step(double radian) const = 0;
00095         virtual int deg2step(double degree) const = 0;
00096         virtual double step2rad(int step) const = 0;
00097         virtual double step2deg(int step) const = 0;
00098         virtual int step2index(int step) const = 0;
00099 
00100         virtual int min_step(void) const = 0;
00101         virtual int max_step(void) const = 0;
00102         virtual long min_distance(void) const = 0;
00103         virtual long max_distance(void) const = 0;
00104         virtual long scan_usec(void) const = 0;
00105         virtual int max_data_size(void) const = 0;
00106         virtual int max_echo_size(void) const = 0;
00107 
00108         virtual const char* product_type(void) const = 0;
00109         virtual const char* firmware_version(void) const = 0;
00110         virtual const char* serial_id(void) const = 0;
00111         virtual const char* status(void) const = 0;
00112         virtual const char* state(void) const = 0;
00113 
00114         virtual int raw_write(const char* data, size_t data_size) = 0;
00115         virtual int raw_read(char* data, size_t max_data_size, int timeout) = 0;
00116         virtual int raw_readline(char* data, size_t max_data_size,
00117                                  int timeout) = 0;
00118     };
00119 }
00120 
00121 #endif /* !QRK_LIDAR_H */