111 lines
3.6 KiB
C
111 lines
3.6 KiB
C
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/*
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Adept MobileRobots Robotics Interface for Applications (ARIA)
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Copyright (C) 2004, 2005 ActivMedia Robotics LLC
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Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
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Copyright (C) 2011, 2012, 2013 Adept Technology
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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If you wish to redistribute ARIA under different terms, contact
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Adept MobileRobots for information about a commercial version of ARIA at
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robots@mobilerobots.com or
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Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
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*/
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#ifndef ARSIMULATEDLASER_H
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#define ARSIMULATEDLASER_H
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#include "ariaTypedefs.h"
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#include "ArLaser.h"
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class ArRobot;
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class ArRobotPacket;
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/**
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This class is a subclass of ArRangeDeviceThreaded meant for any
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planar scanning lasers, like the SICK lasers, Hokoyo URG series
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lasers, etc. Unlike most base classes this contains the superset
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of everything that may need to be configured on any of the sensors,
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this is so that the configuration and parameter files don't have to
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deal with anything sensor specific.
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To see the different things you can set on a laser, call the
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functions canSetDegrees, canChooseRange, canSetIncrement,
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canChooseIncrement, canChooseUnits, canChooseReflectorBits,
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canSetPowerControlled, canChooseStartBaud, and canChooseAutoBaud to
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see what is available (the help for each of those tells you what
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functions they are associated with, and for each function
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associated with one of those it tells you to see the associated
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function).
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@since 2.7.0
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**/
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class ArSimulatedLaser : public ArLaser
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{
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public:
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/// Constructor
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AREXPORT ArSimulatedLaser(ArLaser *laser);
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/// Destructor
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AREXPORT virtual ~ArSimulatedLaser();
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AREXPORT virtual bool blockingConnect(void);
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AREXPORT virtual bool asyncConnect(void);
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AREXPORT virtual bool disconnect(void);
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AREXPORT virtual bool isConnected(void)
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{ return myIsConnected; }
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AREXPORT virtual bool isTryingToConnect(void)
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{
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if (myStartConnect)
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return true;
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else if (myTryingToConnect)
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return true;
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else
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return false;
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}
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protected:
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AREXPORT virtual void * runThread(void *arg);
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AREXPORT virtual bool laserCheckParams(void);
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AREXPORT bool finishParams(void);
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AREXPORT bool simPacketHandler(ArRobotPacket *packet);
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ArLaser *myLaser;
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double mySimBegin;
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double mySimEnd;
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double mySimIncrement;
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// stuff for the sim packet
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ArPose mySimPacketStart;
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ArTransform mySimPacketTrans;
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ArTransform mySimPacketEncoderTrans;
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unsigned int mySimPacketCounter;
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unsigned int myWhichReading;
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unsigned int myTotalNumReadings;
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bool myStartConnect;
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bool myIsConnected;
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bool myTryingToConnect;
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bool myReceivedData;
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std::list<ArSensorReading *>::iterator myIter;
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// range buffers to hold current range set and assembling range set
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std::list<ArSensorReading *> *myAssembleReadings;
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std::list<ArSensorReading *> *myCurrentReadings;
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ArRetFunctor1C<bool, ArSimulatedLaser, ArRobotPacket *> mySimPacketHandler;
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};
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#endif // ARSIMULATEDLASER_H
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