RangeSens.h

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// ----------------------------------------------------------------------------
//
// $Id$
//
// Copyright 2008, 2009, 2010, 2011, 2012  Antonio Franchi and Paolo Stegagno    
//
// This file is part of MIP.
//
// MIP 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 3 of the License, or
// (at your option) any later version.
//
// MIP 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 MIP. If not, see <http://www.gnu.org/licenses/>.
//
// Contact info: antonio.franchi@tuebingen.mpg.de stegagno@diag.uniroma1.it
//
// ----------------------------------------------------------------------------






#ifndef __RANGE_SENSOR_H_
#define __RANGE_SENSOR_H_

#ifdef MIP_HOST_APPLE
#include <applePatch.h>
#endif

#include <stdlib.h>
#include <string>
#include <sstream>
#include <vector>
#include <assert.h>
#include <pthread.h>

#include <stdint.h>

#include <baselib.h>
#include <Resource.h>

namespace MipResources{

/* @{ */

class RangeSensOptions : public Options {
 public:
  IntOption *useFixedBearings;
  
  RangeSensOptions();
  OptionGroupsType getGroup();

  string getObjectName() const {
   return "RangeSensOptions";
  }
};

class RangeSensPar{
 private:
  Decimal  _linRangeMin;  
  Decimal  _linRangeMax;  
  Decimal  _linRes;    
  Angle  _angRangeMax;  
  Angle  _angRangeMin;  
  Angle  _angRes;    
  uint _numRays;    
  Decimal  _rate;     
  Pose   _pose;     
  string  _name;
 protected:
  void setLinRangeMin(Decimal value);
  
  void setLinRangeMax(Decimal value);
  
  void setLinRes(Decimal value);
  
  void setAngRangeMax(Angle value);
  
  void setAngRangeMin(Angle value);
  
  void setAngRes(Angle value);
  
  void setNumRays(uint32_t value);
  
  void setRate(Decimal value);
  
  void setPose(Pose value);
  
  void setName(string value);
  
 public:
  RangeSensPar ();
  
  RangeSensPar(const RangeSensPar &s);
  
  RangeSensPar& operator=(const RangeSensPar& s);
  
  Decimal linRangeMax();
  
  Decimal linRangeMin();
  
  Decimal linRes();
  
  Angle angRangeMax();
  
  Angle angRangeMin();
  
  Angle angRes();
  
  int numRays();
  
  Decimal rate();
  
  Pose pose();
  
  string name();
  
  inline string print();
};



class RangeSensmmPar{
 private:
  UCoordmm _linRangeMin;  
  UCoordmm _linRangeMax;  
  UCoordmm _linRes;    
  Anglem  _angRangeMax;  
  Anglem  _angRangeMin;  
  Anglem  _angRes;    
  uint32_t _numRays;    
  Decimal  _rate;     
  Pose   _pose;     
  string  _name;
 protected:
  void setLinRangeMin(UCoordmm value);
  
  void setLinRangeMax(UCoordmm value);
  
  void setLinRes(UCoordmm value);
  
  void setAngRangeMax(Anglem value);
  
  void setAngRangeMin(Anglem value);
  
  void setAngRes(Anglem value);
  
  void setNumRays(uint32_t value);
  
  void setRate(Decimal value);
  
  void setPose(Pose value);
  
  void setName(string value);
  
 public:
  RangeSensmmPar ();
  
  RangeSensmmPar(const RangeSensmmPar &s);
  
  RangeSensmmPar& operator=(const RangeSensmmPar& s);
  
  UCoordmm linRangeMax();
  
  UCoordmm linRangeMin();
  
  UCoordmm linRes();
  
  Anglem angRangeMax();
  
  Anglem angRangeMin();
  
  Anglem angRes();
  
  int numRays();
  
  Decimal rate();
  
  Pose pose();
  
  string name();
  
  inline string print();
};

    using namespace MipBaselib;
class RangeSens : public Resource{

 private:
  bool _scanning;
  
 protected:
  RangeSensPar *_par;   
  RangeSensmmPar *_parmm; 
  Scan _scan;      
  bool on;        
  
  vector<Angle>  *_fixedBearings; 
  vector<Anglem> *_fixedBearingsmm;
  bool useFixedBearings;      
  
  RangeSensOptions _rangeSensOptions; 
  
  /*batch scanning*/
  virtual Scan _singleScan()=0;
  
  /*start stop continuous scanning*/
  virtual void _startScan(unsigned int num)=0;
  
  virtual void _stopScan()=0;
  
 public:
  virtual ResourcePlate getPlate() const =0;
  
//   RangeSens();
  
  RangeSens(int argc, const char* argv[]);
  
  ~RangeSens();
  
  RangeSensPar* par();
  
  RangeSensmmPar* parmm();
  
  bool getScanType(ScanTypes& type);
  
  /*updated scanning*/
  bool updatedScan(Scan& s);
  
  /*start stop continuous scanning*/
  void startScan(unsigned int num);
  
  void stopScan();
  
  /*get a scan in a continuous scanning*/
  bool storedScan(Scan& s,Time timeout);
  
  void getFixedBearings();
};

 /* @} */
 
};// end namespace MipResources{


#endif