Fawkes API  Fawkes Development Version
sick_tim55x_usb_aqt.h
1 
2 /***************************************************************************
3  * sick_tim55x_aqt.h - Thread to retrieve laser data from Sick TiM 55x
4  *
5  * Created: Tue Jun 10 16:47:50 2014
6  * Copyright 2008-2014 Tim Niemueller [www.niemueller.de]
7  *
8  ****************************************************************************/
9 
10 /* This program is free software; you can redistribute it and/or modify
11  * it under the terms of the GNU General Public License as published by
12  * the Free Software Foundation; either version 2 of the License, or
13  * (at your option) any later version.
14  *
15  * This program is distributed in the hope that it will be useful,
16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18  * GNU Library General Public License for more details.
19  *
20  * Read the full text in the LICENSE.GPL file in the doc directory.
21  */
22 
23 #ifndef __PLUGINS_LASER_SICK_TIM55X_USB_AQT_H_
24 #define __PLUGINS_LASER_SICK_TIM55X_USB_AQT_H_
25 
26 #include "sick_tim55x_common_aqt.h"
27 
28 #include <string>
29 #include <libusb.h>
30 
31 namespace fawkes {
32  class Mutex;
33 }
34 
36 {
37  public:
38  SickTiM55xUSBAcquisitionThread(std::string &cfg_name, std::string &cfg_prefix);
39 
40  virtual void init();
41  virtual void finalize();
42  virtual void loop();
43 
44  private:
45  void open_device();
46  void close_device();
47  void flush_device();
48  void send_with_reply(const char *request, std::string *reply = NULL);
49 
50  private:
51  std::string cfg_serial_;
52 
53  libusb_context *usb_ctx_;
54  libusb_device_handle *usb_device_handle_;
55  fawkes::Mutex *usb_mutex_;
56 };
57 
58 
59 #endif
Laser acqusition thread for Sick TiM55x laser range finders.
Fawkes library namespace.
Laser acqusition thread for Sick TiM55x laser range finders.
Mutex mutual exclusion lock.
Definition: mutex.h:32