sick.h

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2009 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 SICK_H
00012 #define SICK_H
00013 
00014 #include "sickdefines.h"
00015 #include <assert.h>
00016 
00017 class sick_laser_t {
00018 public:
00019 
00020     // May throw std::strings with dodgy settings
00021     sick_laser_t( const laser_settings_t &settings );
00022     ~sick_laser_t();
00023 
00024     laser_settings_t  settings;
00025     laser_device_t    dev;
00026 
00027     int               numvalues;
00028     double           *range;
00029     int              *glare, *wfv, *sfv;
00030     unsigned char    *buffer;
00031     long int          buffer_position, processed_mark, packet_offset, packet_length;
00032     int               new_reading;
00033     double            timestamp;
00034 
00035 private:
00036 
00037     // Don't be copying this thing
00038     void operator=(const sick_laser_t &);
00039     sick_laser_t(const sick_laser_t &);
00040 };
00041 
00042 typedef sick_laser_t *sick_laser_p;
00043 
00044 int sick_start_laser(sick_laser_p laser);
00045 int sick_stop_laser(sick_laser_p laser);
00046 void sick_handle_laser(sick_laser_p laser);
00047 
00048 char *sick_info();
00049 
00050 #endif