source: flair-dev/trunk/include/FlairSensorActuator/Srf08.h @ 13

Last change on this file since 13 was 13, checked in by Bayard Gildas, 5 years ago

formatting script + include reformatted

File size: 1.8 KB
Line 
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 Srf08.h
7 * \brief Class for ultra sonic SRF08
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2011/05/01
10 * \version 4.0
11 */
12
13#ifndef SRF08_H
14#define SRF08_H
15
16#include <Thread.h>
17#include <UsRangeFinder.h>
18
19namespace flair {
20namespace core {
21class FrameworkManager;
22class I2cPort;
23}
24namespace gui {
25class SpinBox;
26;
27}
28}
29
30namespace flair {
31namespace sensor {
32/*! \class Srf08
33*
34* \brief Class for ultra sonic SRF08
35*/
36class Srf08 : public core::Thread, public UsRangeFinder {
37
38public:
39  /*!
40  * \brief Constructor
41  *
42  * Construct a SimuUs. Control part.
43  *
44  * \param parent parent
45  * \param name name
46  * \param i2cport i2c port
47  * \param address i2c slave address
48  * \param priority priority of the Thread
49  */
50  Srf08(const core::FrameworkManager *parent, std::string name,
51        core::I2cPort *i2cport, uint16_t address, uint8_t priority);
52
53  /*!
54  * \brief Destructor
55  *
56  */
57  ~Srf08();
58
59  /*!
60  * \brief Set Range
61  *
62  * check datasheet for values
63  */
64  void SetRange(void);
65
66  /*!
67  * \brief Set Max Gain
68  *
69  * check datasheet for values
70  */
71  void SetMaxGain(void);
72
73private:
74  /*!
75  * \brief Update using provided datas
76  *
77  * Reimplemented from IODevice.
78  *
79  * \param data data from the parent to process
80  */
81  void UpdateFrom(const core::io_data *data){};
82
83  /*!
84  * \brief Run function
85  *
86  * Reimplemented from Thread.
87  *
88  */
89  void Run(void);
90
91  void SendEcho(void);
92  void GetEcho(void);
93
94  bool is_init;
95  core::Time echo_time;
96  float z_1, z_2;
97  gui::SpinBox *gain, *range;
98  uint16_t address;
99  core::I2cPort *i2cport;
100};
101} // end namespace sensor
102} // end namespace flair
103#endif // SRF08_H
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