HokuyoUTM30Lx.h

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// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
#ifndef HOKUYOUTM30LX_H
#define HOKUYOUTM30LX_H

#include <Thread.h>
#include <LaserRangeFinder.h>
#include <Mutex.h>

#include <queue>
#include <vector>

namespace flair {
namespace core {
class Matrix;
class SerialPort;
class Mutex;
}
namespace gui {
class Tab;
class TabWidget;
class RangeFinderPlot;
}
}

namespace flair {
namespace sensor {
class HokuyoUTM30Lx : public core::Thread, public LaserRangeFinder {
public:
  HokuyoUTM30Lx(std::string name,
                core::SerialPort *serialport, uint8_t priority);
  void getMesure(int startStep, int endStep, int clusterCount, int interval,
                 int scanNumber = 0);
  core::Matrix *getDatas(void);

  void UseDefaultPlot(void);
  ~HokuyoUTM30Lx();

private:
  core::SerialPort *serialport;
  core::Mutex *bufRetMut;
  core::Mutex *sendingCmdMut;
  gui::Tab *main_tab;
  gui::TabWidget *tab;
  gui::RangeFinderPlot *plot;

  // matrix
  core::Matrix *output;

  std::queue<std::string> bufRet;

  void Run(void);
  std::string sendCommand(std::string command);
  void startLaser(void);
  void stopLaser(void);
  void resetConfig(void);
  void decodeDatas(std::vector<std::string> datas, int startStep);
  static std::vector<std::string> explode(const std::string str,
                                          char delimiter);
  static int encodeSum(const char *code, int byte);
  static bool checkSum(std::string data);
  static float decode2car(const char *data);
  static float decode3car(const char *data);
  static float decode4car(const char *data);

  void UpdateFrom(const core::io_data *data){};
};
} // end namespace sensor
} // end namespace flair
#endif // HOKUYOUTM30LX_H