RS4Leuze_laser.h

00001 
00008 #ifndef RS4Leuze_laser_h
00009 #define RS4Leuze_laser_h
00010 
00011 #include <termios.h>
00012 #include <sys/types.h>
00013 #include <sys/stat.h>
00014 #include <fcntl.h>
00015 #include <time.h>
00016 #include <sys/time.h>
00017 #include <stdlib.h>
00018 
00019 using namespace std;
00020 
00021 #define MAX_SCAN_POINTS 529
00022 
00023 
00024 typedef struct RS4Leuze_laser_readings { 
00025                 double Reading[MAX_SCAN_POINTS];
00026 } RS4Leuze_laser_readings_t;
00027 
00028 //classes
00032 class Claser
00033 {
00034         private:
00035                 char *portName; 
00036                 int serialFD; 
00037                 termios ttyset; 
00038                 fd_set rfds;
00039                 int selectResult;               
00040                 unsigned char byte;
00041                 unsigned char checksum;
00042                 unsigned char option1;
00043                 long unsigned int scan_number;
00044                 unsigned int output_start;
00045                 unsigned int output_stop;
00046                 unsigned int scanedPoint;
00047                 unsigned char controlByte;
00048                 unsigned int points_to_scan;
00049                 struct timeval tv;
00050                 timeval timeStamp; 
00052         public:
00053                 
00054                 //Claser(ClogMsg *lgMsg, bool *laser_ON, char dir_name[80]); /**<Opens serial port*/
00055                 Claser(int scan_points); 
00056                 ~Claser(); 
00057                 void closeLaser();
00058                 unsigned char readByte(); 
00059                 void sync();            
00060                 //void readScan(); /**<Sets to scanData array values of last laser scanner*/
00061                 void writeConfig(); 
00062                 int  scanRead(); 
00063                 void runLaser(); 
00064                 void closeSerial(); 
00065                 void openSerial(bool *laser_ON,int Baud_rate, const char * Port);  
00066                 RS4Leuze_laser_readings_t scanData;
00067 
00068 };
00069 
00070 #endif
00071 
00072 

Last updated 12 September 2005 21:38:45