rosaria/Legacy/Aria/include/ArSick.h

/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
Adept MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#ifndef ARSICK_H
#define ARSICK_H

#include "ariaTypedefs.h"
#include "ArRobotPacket.h"
#include "ArLaser.h"   
#include "ArFunctor.h"
#include "ArCondition.h"
#include "ArLMS2xx.h"


/**
Compatability class used to access SICK LMS-200 laser rangefinder device in
versions of ARIA prior to 2.7.0; used alone or with ArSimpleConnector (also
deprecated).  In 2.7.0 and later, ArSick implements the same
API as in previous versions, but serves only as an interface to ArLMS2xx; the
preferred way to access laser rangefinders is to first connect to a robot using
ArRobotConnector to load robot parameter files specifying laser types
and options, then use ArLaserConnector to connect to all lasers the robot has.
ArRobot stores a list of ArLaser objects for these lasers.
@deprecated
*/
class ArSick : public ArLMS2xx
{
public:
  /// Constructor
  AREXPORT ArSick(size_t currentBufferSize = 361, 
		  size_t cumulativeBufferSize = 0,
		  const char *name = "laser",
		  bool addAriaExitCB = true,
		  bool isSecondLaser = false);
  /// Destructor
  AREXPORT virtual ~ArSick();

  enum BaudRate {
    BAUD9600, ///< 9600 Baud
    BAUD19200, ///< 19200 Baud
    BAUD38400, ///< 38400 Baud
    BAUD_INVALID ///< Invalid baud
  };
  enum Degrees {
    DEGREES180, ///< 180 Degrees
    DEGREES100, ///< 100 Degrees
    DEGREES_INVALID ///< Invalid degrees
  };
  enum Increment {
    INCREMENT_ONE, ///< One degree increments
    INCREMENT_HALF, ///< Half a degree increments
    INCREMENT_INVALID ///< Increment invalid
  };
  enum Units {
    UNITS_1MM, ///< Uses 1 mm resolution (8/16/32 meter max range)
    UNITS_1CM, ///< Uses 1 cm resolution (80/160/320 meter max range)
    UNITS_10CM, ///< Uses 10 cm resolution (150 meter max range)
    UNITS_INVALID ///< Invalid units
  };
  enum Bits {
    BITS_1REFLECTOR, ///< Uses 1 reflector bits (means 32/320/150 meter range)
    BITS_2REFLECTOR, ///< Uses 2 reflector bits (means 16/160/150 meter range)
    BITS_3REFLECTOR, ///< Uses 3 reflector bits (means 8/80/150 meter range)
    BITS_INVALID ///< Invalid bits
  };

  /// Sees if this is trying to connect to the laser at the moment (note no other range devices work like this so you probably shouldn't use this)
  bool tryingToConnect(void) 
    { return isTryingToConnect(); }

  /// Runs the laser off of the robot
  bool runOnRobot(void) { return internalRunOnRobot(); }


  /// Use this to manually configure the laser before connecting to it
  AREXPORT void configure(bool useSim = false, bool powerControl = true, 
			  bool laserFlipped = false, 
			  BaudRate baud = BAUD38400,
			  Degrees deg = DEGREES180, 
			  Increment incr = INCREMENT_ONE);
  /// Shorter configure for the laser (settings are overridden by the .p file)
  AREXPORT void configureShort(bool useSim = false, 
			       BaudRate baud = BAUD38400,
			       Degrees deg = DEGREES180, 
			       Increment incr = INCREMENT_ONE);
  /// Sets the ranging/reflector information
  AREXPORT void setRangeInformation(Bits bits = BITS_1REFLECTOR,
				    Units units = UNITS_1MM);


  // Gets whether the laser is simulated or not
  AREXPORT bool isUsingSim(void);
  /// Gets whether the computer is controling laser power or not
  AREXPORT bool isControllingPower(void);
  /// Gets whether the laser is flipped over or not
  AREXPORT bool isLaserFlipped(void);
  /// Gets the degrees the laser is scanning
  AREXPORT Degrees getDegrees(void);
#ifndef SWIG
        // this ends up causing problems in the Java wrapper, since it has the
        // wrong return type vs. ArLaser::getIncrement(). But we need to keep
        // this function for backwards compatability.
  /// Gets the amount each scan increments
  AREXPORT Increment getIncrement(void);
#endif
  /// Gets the Bits the laser is using
  AREXPORT Bits getBits(void);
  /// Gets the Units the laser is using
  AREXPORT Units getUnits(void);

  // Sets whether the laser is simulated or not
  AREXPORT void setIsUsingSim(bool usingSim);
  /// Sets whether the computer is controling laser power or not
  AREXPORT void setIsControllingPower(bool controlPower);
  /// Sets whether the laser is flipped over or not
  AREXPORT void setIsLaserFlipped(bool laserFlipped);



  /** You should use setCumulativeCleanDist for this now
     @deprecated
  */
  void setFilterCumulativeCleanDist(double dist)
    {
      setCumulativeCleanDist(dist);
    }
  /** You should use getCumulativeCleanDist for this now
     @deprecated
  */
  double getFilterCumulativeCleanDist(void)
    {
      return getCumulativeCleanDist();
    }
  /** You should use setCumulativeCleanInterval for this now
     @deprecated
  */
  void setFilterCleanCumulativeInterval(int milliSeconds)
    {
      setCumulativeCleanInterval(milliSeconds);
    }
  /** You should use getPlanarCumulativeCleanInterval for this now
     @deprecated
  */
  int getFilterCleanCumulativeInterval(void)
    {
      return getCumulativeCleanInterval();
    }

  /** You should use setMinDistBetweenCumulative for this now
      @deprecated
  */
  void setFilterCumulativeNearDist(double dist)
    {
      setMinDistBetweenCumulative(dist);
    }
  /** You should use getMinDistBetweenCumulative for this now
      @deprecated
  */
  double getFilterCumulativeNearDist(void)
    { return getMinDistBetweenCumulative(); }

  /** You should use setMinDistBetweenCurrent for this now
      @deprecated
  */
  void setFilterNearDist(double dist) 
    { setMinDistBetweenCurrent(dist); }
  /** You should use getMinDistBetweenCurrent for this now
      @deprecated
  */
  double getFilterNearDist(void) 
    { return getMinDistBetweenCurrent(); }

  /**
     You should use setMaxInsertDistCumulative for this now
     @deprecated
  */
  void setFilterCumulativeInsertMaxDist(double dist)
    { setMaxInsertDistCumulative(dist); }
  /**
     You should use getMaxInsertDistCumulative for this now
     @deprecated
  */
  double getFilterCumulativeInsertMaxDist(void)
    { return getMaxInsertDistCumulative(); }

  /** Used to set the min range, this is no longer used because it
      doesn't actually solve anything (because beams that see near
      things and far things average)
      @deprecated
   **/
  unsigned int getMinRange(void) { return 0; } 
  /** Used to get the min range, this is no longer used because it
      doesn't actually solve anything (because beams that see near
      things and far things average)
      @deprecated
   **/ 
  void setMinRange(unsigned int minRange) { }

  /** You should see setMaxDistToKeepCumulative (it replaces this)
      @deprecated
  */
  void setFilterCumulativeMaxDist(double dist) 
    { setMaxDistToKeepCumulative(dist); }
  /** You should see getMaxDistToKeepCumulative (it replaces this)
      @deprecated
   */
  double getFilterCumulativeMaxDist(void)
    { return getMaxDistToKeepCumulative(); }
  /** you should use setMaxSecondsToKeepCumulative instead, (replaces this)
   *  @deprecated
   */
  void setFilterCumulativeMaxAge(int seconds) 
    { setMaxSecondsToKeepCumulative(seconds); }
  /** you should use getMaxSecondsToKeepCumulative instead, (replaces this)
   *  @deprecated
   */
  int getFilterCumulativeMaxAge(void) 
    { return getMaxSecondsToKeepCumulative(); }

  /// Gets the number of laser packets received in the last second
  int getSickPacCount(void)
    { return getReadingCount(); }

  /// Adds a connect callback
  void addConnectCB(ArFunctor *functor,
			     ArListPos::Pos position = ArListPos::LAST)
    {
      if (position == ArListPos::FIRST)
	ArLMS2xx::addConnectCB(functor, 75);
      else if (position == ArListPos::LAST)
	ArLMS2xx::addConnectCB(functor, 25);
      else
	ArLMS2xx::addConnectCB(functor, 25);
    }
  /// Adds a disconnect callback
  void remConnectCB(ArFunctor *functor)
    {
      ArLMS2xx::remConnectCB(functor);
    }

  /// Adds a callback for when a connection to the robot is failed
  void addFailedConnectCB(ArFunctor *functor, 
				   ArListPos::Pos position = ArListPos::LAST)
    {
      if (position == ArListPos::FIRST)
	ArLMS2xx::addFailedConnectCB(functor, 75);
      else if (position == ArListPos::LAST)
	ArLMS2xx::addFailedConnectCB(functor, 25);
      else
	ArLMS2xx::addFailedConnectCB(functor, 25);
    }
  /// Removes a callback for when a connection to the robot is failed
  void remFailedConnectCB(ArFunctor *functor)
    {
      ArLMS2xx::remFailedConnectCB(functor);
    }

  /// Adds a callback for when disconnect is called while connected
  void addDisconnectNormallyCB(ArFunctor *functor, 
				ArListPos::Pos position = ArListPos::LAST)
    {
      if (position == ArListPos::FIRST)
	ArLMS2xx::addDisconnectNormallyCB(functor, 75);
      else if (position == ArListPos::LAST)
	ArLMS2xx::addDisconnectNormallyCB(functor, 25);
      else
	ArLMS2xx::addDisconnectNormallyCB(functor, 25);
    }
  /// Removes a callback for when disconnect is called while connected
   void remDisconnectNormallyCB(ArFunctor *functor)
    {
      ArLMS2xx::remDisconnectNormallyCB(functor);
    }
  
  /// Adds a callback for when disconnection happens because of an error
  void addDisconnectOnErrorCB(ArFunctor *functor, 
			       ArListPos::Pos position = ArListPos::LAST)
    {
      if (position == ArListPos::FIRST)
	ArLMS2xx::addDisconnectOnErrorCB(functor, 75);
      else if (position == ArListPos::LAST)
	ArLMS2xx::addDisconnectOnErrorCB(functor, 25);
      else
	ArLMS2xx::addDisconnectOnErrorCB(functor, 25);
    }
  /// Removes a callback for when disconnection happens because of an error
  void remDisconnectOnErrorCB(ArFunctor *functor)
    {
      ArLMS2xx::remDisconnectOnErrorCB(functor);
    }
  /// Adds a callback that is called whenever a laser packet is processed
  void addDataCB(ArFunctor *functor,
			  ArListPos::Pos position = ArListPos::LAST)
    {
      if (position == ArListPos::FIRST)
	ArLMS2xx::addReadingCB(functor, 75);
      else if (position == ArListPos::LAST)
	ArLMS2xx::addReadingCB(functor, 25);
      else
	ArLMS2xx::addReadingCB(functor, 25);
    }
  /// Removes a callback that is called whenever a laser packet is processed
  void remDataCB(ArFunctor *functor)
    {
      ArLMS2xx::remReadingCB(functor);
    }

  /// Sets the time without a response until connection assumed lost
  void setConnectionTimeoutTime(int secs)
    { setConnectionTimeoutSeconds(secs); }
  /// Gets the time without a response until connection assumed lost
  int getConnectionTimeoutTime(void)
    { return ArMath::roundInt(getConnectionTimeoutSeconds()); }

};


#endif //ARSICK_H