Fawkes API  Fawkes Development Version
urg_aqt.h
00001 
00002 /***************************************************************************
00003  *  urg_aqt.h - Thread to retrieve laser data from Hokuyo URG
00004  *
00005  *  Created: Sat Nov 28 01:29:48 2009
00006  *  Copyright  2008-2011  Tim Niemueller [www.niemueller.de]
00007  *
00008  ****************************************************************************/
00009 
00010 /*  This program is free software; you can redistribute it and/or modify
00011  *  it under the terms of the GNU General Public License as published by
00012  *  the Free Software Foundation; either version 2 of the License, or
00013  *  (at your option) any later version.
00014  *
00015  *  This program is distributed in the hope that it will be useful,
00016  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00017  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00018  *  GNU Library General Public License for more details.
00019  *
00020  *  Read the full text in the LICENSE.GPL file in the doc directory.
00021  */
00022 
00023 #ifndef __PLUGINS_LASER_URG_AQT_H_
00024 #define __PLUGINS_LASER_URG_AQT_H_
00025 
00026 #include "acquisition_thread.h"
00027 
00028 #include <string>
00029 #include <map>
00030 
00031 namespace qrk {
00032   class UrgCtrl;
00033 }
00034 
00035 namespace fawkes {
00036   class TimeWait;
00037 }
00038 
00039 class HokuyoUrgAcquisitionThread : public LaserAcquisitionThread
00040 {
00041  public:
00042   HokuyoUrgAcquisitionThread(std::string &cfg_name, std::string &cfg_prefix);
00043 
00044   // from LaserAcquisitionThread
00045   virtual void pre_init(fawkes::Configuration *config, fawkes::Logger *logger);
00046 
00047   virtual void init();
00048   virtual void finalize();
00049   virtual void loop();
00050 
00051  private:
00052   std::map<std::string, std::string> get_device_info(qrk::UrgCtrl *ctrl);
00053 
00054  private:
00055   bool __pre_init_done;
00056   unsigned int __number_of_values;
00057   qrk::UrgCtrl *__ctrl;
00058   int           __fd;
00059 
00060   fawkes::TimeWait *__timer;
00061 
00062   std::string  __cfg_name;
00063   std::string  __cfg_prefix;
00064 
00065   std::map<std::string, std::string> __device_info;
00066 
00067   std::string  __cfg_device;
00068   std::string  __cfg_serial;
00069 
00070   unsigned int __first_ray;
00071   unsigned int __last_ray;
00072   unsigned int __front_ray;
00073   unsigned int __slit_division;
00074   float        __step_per_angle;
00075   float        __angle_per_step;
00076   float        __angular_range;
00077   unsigned int __offset;
00078 };
00079 
00080 
00081 #endif