IRangefinder2D.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef YARP_DEV_IRANGEFINDER2D_H
#define YARP_DEV_IRANGEFINDER2D_H
 
#include <yarp/os/Vocab.h>
#include <yarp/dev/api.h>
#include <yarp/sig/Vector.h>
#include <yarp/dev/LaserMeasurementData.h>
#include <vector>
#include <string>
 
constexpr yarp::conf::vocab32_t VOCAB_ILASER2D             = yarp::os::createVocab('i','l','a','s');
constexpr yarp::conf::vocab32_t VOCAB_DEVICE_INFO          = yarp::os::createVocab('l','s','n','f');
constexpr yarp::conf::vocab32_t VOCAB_LASER_DISTANCE_RANGE = yarp::os::createVocab('l','s','d','r');
constexpr yarp::conf::vocab32_t VOCAB_LASER_ANGULAR_RANGE  = yarp::os::createVocab('l','s','a','r');
constexpr yarp::conf::vocab32_t VOCAB_LASER_ANGULAR_STEP   = yarp::os::createVocab('l','s','a','s');
constexpr yarp::conf::vocab32_t VOCAB_LASER_SCAN_RATE      = yarp::os::createVocab('l','s','s','r');
 
namespace yarp {
    namespace dev {
        class IRangefinder2D;
    }
}
 
class YARP_dev_API yarp::dev::IRangefinder2D
{
public:
    enum Device_status
    {
        DEVICE_OK_STANBY        = 0,
        DEVICE_OK_IN_USE        = 1,
        DEVICE_GENERAL_ERROR    = 2,
        DEVICE_TIMEOUT          = 3
    };
 
    virtual ~IRangefinder2D();
 
    virtual bool getLaserMeasurement(std::vector<LaserMeasurementData> &data) = 0;
 
    virtual bool getRawData(yarp::sig::Vector &data) = 0;
 
    virtual bool getDeviceStatus(Device_status& status) = 0;
 
    virtual bool getDistanceRange(double& min, double& max) = 0;
 
    virtual bool setDistanceRange(double min, double max) = 0;
 
    virtual bool getScanLimits(double& min, double& max) = 0;
 
    virtual bool setScanLimits(double min, double max) = 0;
 
    virtual bool getHorizontalResolution(double& step) = 0;
 
    virtual bool setHorizontalResolution(double step) = 0;
 
    virtual bool getScanRate(double& rate) = 0;
 
    virtual bool setScanRate(double rate) = 0;
 
    virtual bool getDeviceInfo(std::string &device_info) = 0;
};
 
#endif // YARP_DEV_IRANGEFINDER2D_H