rosaria/Legacy/Aria/include/ArSZSeries.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 ARSZSERIES_H
#define ARSZSERIES_H

#include "ariaTypedefs.h"
#include "ariaOSDef.h"
#include "ArRobotPacket.h"
#include "ArLaser.h"   
#include "ArFunctor.h"

/** @internal */
class ArSZSeriesPacket : public ArBasePacket
{
public:
  /// Constructor
  AREXPORT ArSZSeriesPacket();
  /// Destructor
  AREXPORT virtual ~ArSZSeriesPacket();
  
  /// Gets the time the packet was received at
  AREXPORT ArTime getTimeReceived(void);
  /// Sets the time the packet was received at
  AREXPORT void setTimeReceived(ArTime timeReceived);

  AREXPORT virtual void duplicatePacket(ArSZSeriesPacket *packet);
  AREXPORT virtual void empty(void);

  AREXPORT virtual void byteToBuf(ArTypes::Byte val);

  AREXPORT virtual ArTypes::Byte bufToByte(void);
  
  void setDataLength(int x)
  { myDataLength = x; }
  int getDataLength()
  { return myDataLength; }
  void setNumReadings(int x)
  { myNumReadings = x; }
  int getNumReadings()
  { return myNumReadings; }
  void setScanFrequency(int x)
  { myScanFrequency = x; }
  int getScanFrequency()
  { return myScanFrequency; }

  void setPrevScanFrequency(int x)
  { myPrevScanFrequency = x; }
  int getPrevScanFrequency()
  { return myPrevScanFrequency; }


  unsigned char getCrcByte1()
  { return myCrcByte1; }
  void setCrcByte1(unsigned char c)
  { myCrcByte1 = c; }
  unsigned char getCrcByte2()
  { return myCrcByte2; }
  void setCrcByte2(unsigned char c)
  { myCrcByte2 = c; }

protected:
  int deascii(char c);

  ArTime myTimeReceived;

  // SZS specific
  int myDataLength;
  int myNumReadings;
  int myScanFrequency;
  unsigned char myCrcByte1;
  unsigned char myCrcByte2;
  
  int myPrevScanFrequency;


};


/// Given a device connection it receives packets from the sick through it
/// @internal
class ArSZSeriesPacketReceiver
{
public:
  /// Constructor with assignment of a device connection
  AREXPORT ArSZSeriesPacketReceiver();
  /// Destructor
  AREXPORT virtual ~ArSZSeriesPacketReceiver();
  
  /// Receives a packet from the robot if there is one available
  AREXPORT ArSZSeriesPacket *receivePacket(unsigned int msWait = 0,
					 bool shortcut = false);

  /// Sets the device this instance receives packets from
  AREXPORT void setDeviceConnection(ArDeviceConnection *conn);
  /// Gets the device this instance receives packets from
  AREXPORT ArDeviceConnection *getDeviceConnection(void);
  unsigned short CRC16(unsigned char *, int);

  // PS - added to pass info to this class
  AREXPORT void	setmyInfoLogLevel(ArLog::LogLevel infoLogLevel)
  { myInfoLogLevel = infoLogLevel; }
  AREXPORT void setmyIsSZ00(bool isSZ00)
  { myIsSZ00 = isSZ00; }
  AREXPORT void setmyName(const char *name )
  { strcpy(myName, name); }

protected:
  ArDeviceConnection *myConn;
  ArSZSeriesPacket myPacket;
  
  char myName[1024];
  unsigned int myNameLength;
  unsigned char myReadBuf[100000];
  int myReadCount;
  bool myIsSZ00;
  ArLog::LogLevel myInfoLogLevel;

  unsigned short myPrevCrc;


};

/**
  @since Aria 2.7.4
  @see ArLaserConnector
  Use ArLaserConnector to connect to a laser, determining type based on robot and program configuration  parameters.
*/
class ArSZSeries : public ArLaser
{
public:
  /// Constructor
  AREXPORT ArSZSeries(int laserNumber,
		 const char *name = "SZSeries");
  /// Destructor
  AREXPORT ~ArSZSeries();
  AREXPORT virtual bool blockingConnect(void);
  AREXPORT virtual bool asyncConnect(void);
  AREXPORT virtual bool disconnect(void);
  virtual bool isConnected(void) { return myIsConnected; }
  virtual bool isTryingToConnect(void) 
    { 
      if (myStartConnect)
	return true;
      else if (myTryingToConnect)
	return true; 
      else
	return false;
    }  

  /// Logs the information about the sensor
  AREXPORT void log(void);
protected:
  AREXPORT virtual void laserSetName(const char *name);
  AREXPORT virtual void * runThread(void *arg);
  AREXPORT virtual void setRobot(ArRobot *robot);
  void sensorInterp(void);
  void failedToConnect(void);
  void clear(void);
  bool myIsConnected;
  bool myTryingToConnect;
  bool myStartConnect;

  int myNumChans;


  ArLog::LogLevel myLogLevel;

  ArSZSeriesPacketReceiver myReceiver;

  ArMutex myPacketsMutex;
  ArMutex myDataMutex;

  std::list<ArSZSeriesPacket *> myPackets;
  
  ArTime myPrevSensorIntTime;

  ArFunctorC<ArSZSeries> mySensorInterpTask;
  ArRetFunctorC<bool, ArSZSeries> myAriaExitCB;
};

#endif