Changeset 15 in flair-src for trunk/lib/FlairSensorActuator/src/HokuyoUTM30Lx.h
- Timestamp:
- 04/08/16 15:40:57 (8 years ago)
- File:
-
- 1 edited
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trunk/lib/FlairSensorActuator/src/HokuyoUTM30Lx.h (modified) (1 diff)
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trunk/lib/FlairSensorActuator/src/HokuyoUTM30Lx.h
r3 r15 21 21 #include <vector> 22 22 23 namespace 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 } 23 namespace flair { 24 namespace core { 25 class cvmatrix; 26 class FrameworkManager; 27 class SerialPort; 28 class Mutex; 29 } 30 namespace gui { 31 class Tab; 32 class TabWidget; 33 class RangeFinderPlot; 34 } 38 35 } 39 36 40 namespace flair 41 { 42 namespace 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: 37 namespace flair { 38 namespace sensor { 39 /*! \class HokuyoUTM30Lx 40 * 41 * \brief Classe intégrant le telemetre laser Hokuyo UTM 30lx 42 */ 43 class HokuyoUTM30Lx : public core::Thread, public LaserRangeFinder { 44 public: 45 /*! 46 * \brief Constructor 47 * 48 * Construct a Hokuyo UTM30-Lx. 49 * 50 * \param parent parent 51 * \param name name 52 * \param serialport serialport 53 * \param priority priority of the Thread 54 */ 55 HokuyoUTM30Lx(const core::FrameworkManager *parent, std::string name, 56 core::SerialPort *serialport, uint8_t priority); 57 void getMesure(int startStep, int endStep, int clusterCount, int interval, 58 int scanNumber = 0); 59 core::cvmatrix *getDatas(void); 51 60 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); 61 /*! 62 * \brief Use default plot 63 * 64 */ 65 void UseDefaultPlot(void); 66 /*! 67 * \brief Destructor 68 * 69 */ 70 ~HokuyoUTM30Lx(); 65 71 66 /*! 67 * \brief Use default plot 68 * 69 */ 70 void UseDefaultPlot(void); 71 /*! 72 * \brief Destructor 73 * 74 */ 75 ~HokuyoUTM30Lx(); 72 private: 73 core::SerialPort *serialport; 74 core::Mutex *bufRetMut; 75 core::Mutex *sendingCmdMut; 76 gui::Tab *main_tab; 77 gui::TabWidget *tab; 78 gui::RangeFinderPlot *plot; 76 79 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; 80 // matrix 81 core::cvmatrix *output; 84 82 85 //matrix 86 core::cvmatrix *output; 83 std::queue<std::string> bufRet; 87 84 88 std::queue<std::string> bufRet; 85 /*! 86 * \brief Run function 87 * 88 * Reimplemented from Thread. 89 * 90 */ 91 void Run(void); 92 /*! 93 * \brief Send a command 94 * \param command Command to send (see Hokuyo UTM 30-LX doc for more 95 * informations) 96 * \return Return code 97 */ 98 std::string sendCommand(std::string command); 99 /*! 100 * \brief Start the laser 101 * 102 */ 103 void startLaser(void); 104 /*! 105 * \brief Stop the laser 106 * 107 */ 108 void stopLaser(void); 109 /*! 110 * \brief Stop and reset the laser's settings 111 * 112 */ 113 void resetConfig(void); 114 /*! 115 * \brief Decode incomming datas 116 * \param datas Datas to decode 117 * \param startStep Set the first mesured point 118 * Decode mesured points from incoming datas and fill the output matrix 119 */ 120 void decodeDatas(std::vector<std::string> datas, int startStep); 121 /*! 122 * \brief Explode a string into a vector 123 * \param str The string to explode 124 * \param delimiter The character separating elements 125 * \return A vector containing the elements 126 */ 127 static std::vector<std::string> explode(const std::string str, 128 char delimiter); 129 /*! 130 * \brief Calculate the checksum 131 * \param code Data from which calculate 132 * \param byte Data's size 133 * \return A character corresponding to the code's checksum 134 */ 135 static int encodeSum(const char *code, int byte); 136 /*! 137 * \brief Check if a data correspond to its checksum 138 * \param data Datas to check 139 */ 140 static bool checkSum(std::string data); 141 /*! 142 * \brief Decode datas using the 2 character encoding 143 * \param data Datas to decode 144 * \return Decoded datas 145 */ 146 static float decode2car(const char *data); 147 /*! 148 * \brief Decode datas using the 3 character encoding 149 * \param data Datas to decode 150 * \return Decoded datas 151 */ 152 static float decode3car(const char *data); 153 /*! 154 * \brief Decode datas using the 4 character encoding 155 * \param data Datas to decode 156 * \return Decoded datas 157 */ 158 static float decode4car(const char *data); 89 159 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 }; 160 /*! 161 * \brief Update using provided datas 162 * 163 * Reimplemented from IODevice. 164 * 165 * \param data data from the parent to process 166 */ 167 void UpdateFrom(const core::io_data *data){}; 168 }; 173 169 } // end namespace sensor 174 170 } // end namespace framewor
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