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SchunkFpsF5.h
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1 //
2 // Copyright (c) 2009, Markus Rickert
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4 //
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29 
30 #ifndef _RL_HAL_SCHUNKFPSF5_H_
31 #define _RL_HAL_SCHUNKFPSF5_H_
32 
33 #include "RangeSensor.h"
34 #include "types.h"
35 
36 #include <set>
37 
38 namespace rl
39 {
40  namespace hal
41  {
42  class Serial;
43 
44  class SchunkFpsF5 : public RangeSensor
45  {
46  public:
47  SchunkFpsF5(const ::std::string& device = "/dev/ttyS0");
48 
49  virtual ~SchunkFpsF5();
50 
51  void close();
52 
53  void getDistances(::rl::math::Vector& distances) const;
54 
55  ::std::size_t getDistancesCount() const;
56 
57  ::rl::math::Real getDistancesMaximum(const ::std::size_t& i) const;
58 
59  ::rl::math::Real getDistancesMinimum(const ::std::size_t& i) const;
60 
62 
64 
65  bool isA() const;
66 
67  bool isArea() const;
68 
69  bool isB() const;
70 
71  bool isC() const;
72 
73  bool isClosed() const;
74 
75  bool isOpened() const;
76 
77  bool isReCalc() const;
78 
79  bool isRecord() const;
80 
81  bool isUpdate() const;
82 
83  void open();
84 
85  void start();
86 
87  void step();
88 
89  void stop();
90 
91  protected:
92 
93  private:
94  uint16_t crc(const uint8_t* buf, const ::std::size_t& len) const;
95 
96  ::std::size_t recv(uint8_t* buf, const ::std::size_t& len, const uint8_t& command);
97 
98  void send(uint8_t* buf, const ::std::size_t& len);
99 
100  bool a;
101 
102  bool area;
103 
104  bool b;
105 
106  bool c;
107 
108  bool closed;
109 
110  ::std::set< ::std::pair< ::rl::math::Real, ::rl::math::Real > > fulcrums;
111 
113 
114  bool opened;
115 
116  bool reCalc;
117 
118  bool record;
119 
121 
123 
124  bool update;
125 
127 
129  };
130  }
131 }
132 
133 #endif // _RL_HAL_SCHUNKFPSF5_H_