source: flair-dev/trunk/include/FlairSensorActuator/Srf08.h @ 4

// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
/*!
 * \file Srf08.h
 * \brief Class for ultra sonic SRF08
 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
 * \date 2011/05/01
 * \version 4.0
 */

#ifndef SRF08_H
#define SRF08_H

#include <Thread.h>
#include <UsRangeFinder.h>

namespace flair
{
    namespace core
    {
        class FrameworkManager;
        class I2cPort;
    }
    namespace gui
    {
        class SpinBox;;
    }
}

namespace flair
{
namespace sensor
{
    /*! \class Srf08
    *
    * \brief Class for ultra sonic SRF08
    */
    class Srf08 : public core::Thread, public UsRangeFinder
    {

        public:
            /*!
            * \brief Constructor
            *
            * Construct a SimuUs. Control part.
            *
            * \param parent parent
            * \param name name
            * \param i2cport i2c port
            * \param address i2c slave address
            * \param priority priority of the Thread
            */
            Srf08(const core::FrameworkManager* parent,std::string name,core::I2cPort* i2cport,uint16_t address,uint8_t priority);

            /*!
            * \brief Destructor
            *
            */
            ~Srf08();

            /*!
            * \brief Set Range
            *
            * check datasheet for values
            */
            void SetRange(void);

            /*!
            * \brief Set Max Gain
            *
            * check datasheet for values
            */
            void SetMaxGain(void);

        private:
            /*!
            * \brief Update using provided datas
            *
            * Reimplemented from IODevice.
            *
            * \param data data from the parent to process
            */
            void UpdateFrom(const core::io_data *data){};

            /*!
            * \brief Run function
            *
            * Reimplemented from Thread.
            *
            */
            void Run(void);

            void SendEcho(void);
            void GetEcho(void);

            bool is_init;
            core::Time echo_time;
            float z_1,z_2;
            gui::SpinBox *gain,*range;
            uint16_t address;
            core::I2cPort* i2cport;
    };
} // end namespace sensor
} // end namespace flair
#endif // SRF08_H