SchunkFpsF5.h

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//
// Copyright (c) 2009, Markus Rickert
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
//   this list of conditions and the following disclaimer in the documentation
//   and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
 
#ifndef _RL_HAL_SCHUNKFPSF5_H_
#define _RL_HAL_SCHUNKFPSF5_H_
 
#include "RangeSensor.h"
#include "types.h"
 
#include <set>
 
namespace rl
{
    namespace hal
    {
        class Serial;
        
        class SchunkFpsF5 : public RangeSensor
        {
        public:
            SchunkFpsF5(const ::std::string& device = "/dev/ttyS0");
            
            virtual ~SchunkFpsF5();
            
            void close();
            
            void getDistances(::rl::math::Vector& distances) const;
            
            ::std::size_t getDistancesCount() const;
            
            ::rl::math::Real getDistancesMaximum(const ::std::size_t& i) const;
            
            ::rl::math::Real getDistancesMinimum(const ::std::size_t& i) const;
            
            ::rl::math::Real getTemperature() const;
            
            ::rl::math::Real getVoltage() const;
            
            bool isA() const;
            
            bool isArea() const;
            
            bool isB() const;
            
            bool isC() const;
            
            bool isClosed() const;
            
            bool isOpened() const;
            
            bool isReCalc() const;
            
            bool isRecord() const;
            
            bool isUpdate() const;
            
            void open();
            
            void start();
            
            void step();
            
            void stop();
            
        protected:
            
        private:
            uint16_t crc(const uint8_t* buf, const ::std::size_t& len) const;
            
            ::std::size_t recv(uint8_t* buf, const ::std::size_t& len, const uint8_t& command);
            
            void send(uint8_t* buf, const ::std::size_t& len);
            
            bool a;
            
            bool area;
            
            bool b;
            
            bool c;
            
            bool closed;
            
            ::std::set< ::std::pair< ::rl::math::Real, ::rl::math::Real > > fulcrums;
            
            ::rl::math::Real interpolated;
            
            bool opened;
            
            bool reCalc;
            
            bool record;
            
            Serial* serial;
            
            ::rl::math::Real temperature;
            
            bool update;
            
            ::rl::math::Real value;
            
            ::rl::math::Real voltage;
        };
    }
}
 
#endif // _RL_HAL_SCHUNKFPSF5_H_