00001 #ifndef QRK_URG_DRIVER_H
00002 #define QRK_URG_DRIVER_H
00003 
00016 #include <memory>
00017 #include <string>
00018 #include "Lidar.h"
00019 
00020 namespace qrk
00021 {
00023     class Urg_driver : public Lidar
00024     {
00025     public:
00026         enum {
00027             Default_baudrate = 115200,
00028             Default_port = 10940,
00029             Infinity_times = -1,
00030         };
00031 
00032         Urg_driver(void);
00033         virtual ~Urg_driver(void);
00034 
00035         static std::vector<std::string> find_ports(void);
00036         static std::vector<std::string> find_ports(std::vector<int>&
00037                                                    is_urg_ports);
00038         const char* what(void) const;
00039 
00040         bool open(const char* device_name, long baudrate = Default_baudrate,
00041                   connection_type_t type = Serial);
00042         void close(void);
00043         bool is_open(void) const;
00044 
00045         void set_timeout_msec(int msec);
00046 
00047         bool laser_on(void);
00048         bool laser_off(void);
00049 
00050         void reboot(void);
00051 
00052         void sleep(void);
00053         void wakeup(void);
00054         bool is_stable(void);
00055 
00057         bool start_measurement(measurement_type_t type = Distance,
00058                                int scan_times = Infinity_times,
00059                                int skip_scan = 0);
00060 
00062         bool get_distance(std::vector<long>& data, long *time_stamp = NULL);
00063         bool get_distance_intensity(std::vector<long>& data,
00064                                     std::vector<unsigned short>& intensity,
00065                                     long *time_stamp = NULL);
00066 
00067         bool get_multiecho(std::vector<long>& data_multi,
00068                            long* time_stamp = NULL);
00069 
00070         bool get_multiecho_intensity(std::vector<long>& data_multiecho,
00071                                      std::vector<unsigned short>&
00072                                      intensity_multiecho,
00073                                      long* time_stamp = NULL);
00074 
00075         bool set_scanning_parameter(int first_step, int last_step,
00076                                     int skip_step = 1);
00077 
00079         void stop_measurement(void);
00080 
00082         bool set_sensor_time_stamp(long time_stamp);
00083         long get_sensor_time_stamp(void);
00084 
00086         double index2rad(int index) const;
00087         double index2deg(int index) const;
00088         int rad2index(double radian) const;
00089         int deg2index(double degree) const;
00090         int rad2step(double radian) const;
00091         int deg2step(double degree) const;
00092         double step2rad(int step) const;
00093         double step2deg(int step) const;
00094         int step2index(int step) const;
00095 
00096         int min_step(void) const;
00097         int max_step(void) const;
00098         long min_distance(void) const;
00099         long max_distance(void) const;
00100         long scan_usec(void) const;
00101         int max_data_size(void) const;
00102         int max_echo_size(void) const;
00103 
00104         const char* product_type(void) const;
00105         const char* firmware_version(void) const;
00106         const char* serial_id(void) const;
00107         const char* status(void) const;
00108         const char* state(void) const;
00109 
00110         int raw_write(const char* data, size_t data_size);
00111         int raw_read(char* data, size_t max_data_size, int timeout);
00112         int raw_readline(char* data, size_t max_data_size, int timeout);
00113         void* raw_urg(void);
00114         void set_measurement_type(measurement_type_t type);
00115 
00116     private:
00117         Urg_driver(const Urg_driver& rhs);
00118         Urg_driver& operator = (const Urg_driver& rhs);
00119 
00120         struct pImpl;
00121         std::auto_ptr<pImpl> pimpl;
00122     };
00123 }
00124 
00125 #endif /* !QRK_URG_DRIVER_H */