RS4Leuze_laser.h

  /*
 *  Player - One Hell of a Robot Server
 *  Copyright (C) 2000  Brian Gerkey et al.
 *
 *  This program 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 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program 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 this program; if not, write to the Free Software
 *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 USA
 *
 */

#ifndef RS4Leuze_laser_h
#define RS4Leuze_laser_h

#include <termios.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <time.h>
#include <sys/time.h>
#include <stdlib.h>

using namespace std;

#define MAX_SCAN_POINTS 529


typedef struct RS4Leuze_laser_readings { 
                double Reading[MAX_SCAN_POINTS];
} RS4Leuze_laser_readings_t;

//classes
class Claser
{
        private:
                char *portName; 
                int serialFD; 
                termios ttyset; 
                fd_set rfds;
                int selectResult;               
                unsigned char byte;
                unsigned char checksum;
                unsigned char option1;
                long unsigned int scan_number;
                unsigned int output_start;
                unsigned int output_stop;
                unsigned int scanedPoint;
                unsigned char controlByte;
                unsigned int points_to_scan;
                struct timeval tv;
                timeval timeStamp; 
        public:
                
                //Claser(ClogMsg *lgMsg, bool *laser_ON, char dir_name[80]); /**<Opens serial port*/
                Claser(int scan_points); 
                ~Claser(); 
                void closeLaser();
                unsigned char readByte(); 
                void sync();            
                //void readScan(); /**<Sets to scanData array values of last laser scanner*/
                void writeConfig(); 
                int  scanRead(); 
                void runLaser(); 
                void closeSerial(); 
                void openSerial(bool *laser_ON,int Baud_rate, const char * Port);  
                RS4Leuze_laser_readings_t scanData;

};

#endif