source: flair-dev/trunk/include/FlairSensorActuator/HokuyoUTM30Lx.h@ 4

Last change on this file since 4 was 4, checked in by Sanahuja Guillaume, 6 years ago

sensoractuator

File size: 4.9 KB
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1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5/*!
6 * \file HokuyoUTM30Lx.h
7 * \brief Classe intégrant le telemetre laser Hokuyo UTM 30lx
8 * \author César Richard, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2014/07/22
10 * \version 1.0
11 */
12
13#ifndef HOKUYOUTM30LX_H
14#define HOKUYOUTM30LX_H
15
16#include <Thread.h>
17#include <LaserRangeFinder.h>
18#include <Mutex.h>
19
20#include <queue>
21#include <vector>
22
23namespace flair
24{
25 namespace core
26 {
27 class cvmatrix;
28 class FrameworkManager;
29 class SerialPort;
30 class Mutex;
31 }
32 namespace gui
33 {
34 class Tab;
35 class TabWidget;
36 class RangeFinderPlot;
37 }
38}
39
40namespace flair
41{
42namespace sensor
43{
44 /*! \class HokuyoUTM30Lx
45 *
46 * \brief Classe intégrant le telemetre laser Hokuyo UTM 30lx
47 */
48 class HokuyoUTM30Lx : public core::Thread, public LaserRangeFinder
49 {
50 public:
51
52 /*!
53 * \brief Constructor
54 *
55 * Construct a Hokuyo UTM30-Lx.
56 *
57 * \param parent parent
58 * \param name name
59 * \param serialport serialport
60 * \param priority priority of the Thread
61 */
62 HokuyoUTM30Lx(const core::FrameworkManager* parent,std::string name,core::SerialPort *serialport,uint8_t priority);
63 void getMesure(int startStep, int endStep,int clusterCount, int interval, int scanNumber=0);
64 core::cvmatrix* getDatas(void);
65
66 /*!
67 * \brief Use default plot
68 *
69 */
70 void UseDefaultPlot(void);
71 /*!
72 * \brief Destructor
73 *
74 */
75 ~HokuyoUTM30Lx();
76
77 private:
78 core::SerialPort *serialport;
79 core::Mutex* bufRetMut;
80 core::Mutex* sendingCmdMut;
81 gui::Tab* main_tab;
82 gui::TabWidget* tab;
83 gui::RangeFinderPlot* plot;
84
85 //matrix
86 core::cvmatrix *output;
87
88 std::queue<std::string> bufRet;
89
90 /*!
91 * \brief Run function
92 *
93 * Reimplemented from Thread.
94 *
95 */
96 void Run(void);
97 /*!
98 * \brief Send a command
99 * \param command Command to send (see Hokuyo UTM 30-LX doc for more informations)
100 * \return Return code
101 */
102 std::string sendCommand(std::string command);
103 /*!
104 * \brief Start the laser
105 *
106 */
107 void startLaser(void);
108 /*!
109 * \brief Stop the laser
110 *
111 */
112 void stopLaser(void);
113 /*!
114 * \brief Stop and reset the laser's settings
115 *
116 */
117 void resetConfig(void);
118 /*!
119 * \brief Decode incomming datas
120 * \param datas Datas to decode
121 * \param startStep Set the first mesured point
122 * Decode mesured points from incoming datas and fill the output matrix
123 */
124 void decodeDatas(std::vector<std::string> datas, int startStep);
125 /*!
126 * \brief Explode a string into a vector
127 * \param str The string to explode
128 * \param delimiter The character separating elements
129 * \return A vector containing the elements
130 */
131 static std::vector<std::string> explode(const std::string str, char delimiter);
132 /*!
133 * \brief Calculate the checksum
134 * \param code Data from which calculate
135 * \param byte Data's size
136 * \return A character corresponding to the code's checksum
137 */
138 static int encodeSum(const char* code, int byte);
139 /*!
140 * \brief Check if a data correspond to its checksum
141 * \param data Datas to check
142 */
143 static bool checkSum(std::string data);
144 /*!
145 * \brief Decode datas using the 2 character encoding
146 * \param data Datas to decode
147 * \return Decoded datas
148 */
149 static float decode2car(const char* data);
150 /*!
151 * \brief Decode datas using the 3 character encoding
152 * \param data Datas to decode
153 * \return Decoded datas
154 */
155 static float decode3car(const char* data);
156 /*!
157 * \brief Decode datas using the 4 character encoding
158 * \param data Datas to decode
159 * \return Decoded datas
160 */
161 static float decode4car(const char* data);
162
163 /*!
164 * \brief Update using provided datas
165 *
166 * Reimplemented from IODevice.
167 *
168 * \param data data from the parent to process
169 */
170 void UpdateFrom(const core::io_data *data){};
171
172 };
173} // end namespace sensor
174} // end namespace framewor
175#endif // HOKUYOUTM30LX_H
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