vpSickLDMRS.h

/****************************************************************************
 *
 * $Id: vpSickLDMRS.h 4632 2014-02-03 17:06:40Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
 * 
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact INRIA about acquiring a ViSP Professional 
 * Edition License.
 *
 * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
 * 
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * If you have questions regarding the use of this file, please contact
 * INRIA at visp@inria.fr
 * 
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 *
 * Description:
 * Sick LD-MRS laser driver.
 *
 * Authors:
 * Fabien Spindler
 *
 *****************************************************************************/
#ifndef vpSickLDMRS_h
#define vpSickLDMRS_h

#include <visp/vpConfig.h>

#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__)))

#include <arpa/inet.h>
#include <iostream>
#include <vector>
#include <string.h>

#include <visp/vpScanPoint.h>
#include <visp/vpLaserScan.h>
#include <visp/vpLaserScanner.h>
#include <visp/vpColVector.h>
#include <visp/vpException.h>

class VISP_EXPORT vpSickLDMRS : public vpLaserScanner
{
 public:
  enum MagicWord {
    MagicWordC2 = 0xAFFEC0C2   
  };
  enum DataType {
    MeasuredData = 0x2202      
  };
  vpSickLDMRS();
  vpSickLDMRS(const vpSickLDMRS &sick)
    : vpLaserScanner(sick), socket_fd(-1), body(NULL), vAngle(), time_offset(0),
      isFirstMeasure(true), maxlen_body(104000)
 {
    *this = sick;
  };
  virtual ~vpSickLDMRS();
  vpSickLDMRS &operator=(const vpSickLDMRS &sick)
  {
    socket_fd = sick.socket_fd;
    vAngle = sick.vAngle;
    time_offset = sick.time_offset;
    isFirstMeasure = sick.isFirstMeasure;
    maxlen_body = sick.maxlen_body;
    if (body) delete [] body;
    body = new unsigned char [104000];
    memcpy(body, sick.body, maxlen_body);
    return (*this);
  };

  bool setup(std::string ip, int port);
  bool setup();
  bool measure(vpLaserScan laserscan[4]);

 protected:
#if defined(_WIN32)
  SOCKET socket_fd;
#else
  int socket_fd;  
#endif
  unsigned char *body;
  vpColVector vAngle; // constant vertical angle for each layer
  double time_offset;
  bool isFirstMeasure;
  size_t maxlen_body;
 };

#endif

#endif