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laserscanner2dsickcarmen/driver.h
00001 /* 00002 * Orca-Robotics Project: Components for robotics 00003 * http://orca-robotics.sf.net/ 00004 * Copyright (c) 2004-2008 Alex Brooks, Alexei Makarenko, Tobias Kaupp 00005 * 00006 * This distribution is licensed to you under the terms described in 00007 * the LICENSE file included in this distribution. 00008 * 00009 */ 00010 00011 #ifndef HYDRO_LASERSCANNER2D_SICK_CARMEN_H 00012 #define HYDRO_LASERSCANNER2D_SICK_CARMEN_H 00013 00014 #include <hydrointerfaces/laserscanner2d.h> 00015 00016 // forward declaration of Carmen class 00017 class sick_laser_t; 00018 00019 namespace laserscanner2dsickcarmen { 00020 00021 // 00022 // @author Alex Brooks 00023 // 00024 class Driver : public hydrointerfaces::LaserScanner2d 00025 { 00026 00027 public: 00028 00029 Driver( const Config & cfg, 00030 const hydroutil::Context & context ); 00031 virtual ~Driver(); 00032 00033 // Blocks till new data is available 00034 virtual void read( hydrointerfaces::LaserScanner2d::Data &data ); 00035 00036 private: 00037 00038 void init(); 00039 00040 int setupParams( double maxRange, int numberOfSamples, int baudrate ); 00041 00042 Config config_; 00043 00044 // carmen core object 00045 sick_laser_t *laser_; 00046 00047 char *device_; 00048 // LMS or PMS 00049 char *type_; 00050 int baudrate_; 00051 00052 hydroutil::Context context_; 00053 00054 char sickInfoMessage_[2000]; 00055 00056 bool firstRead_; 00057 double lastStatsUpdateTime_; 00058 bool laserStalled_; 00059 }; 00060 00061 // Used for dynamically loading driver 00062 class Factory : public hydrointerfaces::LaserScanner2dFactory 00063 { 00064 public: 00065 hydrointerfaces::LaserScanner2d* 00066 createDriver( const hydrointerfaces::LaserScanner2d::Config &config, 00067 const hydroutil::Context &context ) const 00068 { 00069 return new Driver( config, context ); 00070 } 00071 }; 00072 00073 } // namespace 00074 00075 // Used for dynamically loading driver 00076 extern "C" { 00077 hydrointerfaces::LaserScanner2dFactory *createDriverFactory(); 00078 } 00079 00080 #endif
