libs/sick/include/msg_0x20_builder.H

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// Copyright (C) 2004 Pablo Mejia


#ifndef SICK_MSG_0X20_BUILDER_H
#define SICK_MSG_0X20_BUILDER_H


#include "sick_msg_builder.H"


namespace sick
{
        // Switch Operating Mode
        class msg_0x20_builder_t : public msg_builder_t
        {
        public:
                msg_0x20_builder_t ();

                // A single 0x20 msg is composed of one (1) of the following

                void install_mode (char const *password);

                enum mode_t
                {       //Group A - Mode selection
                        MODE_10                                         = 0x10,
                        //Group B - Monitoring Mode
                        MODE_20                                         = 0x20,
                        MODE_21                                         = 0x21,
                        MODE_22                                         = 0x22,
                        MODE_23                                         = 0x23,
                        MODE_24                                         = 0x24,
                        MODE_25                                         = 0x25,
                        MODE_26                                         = 0x26,
                        MODE_27                                         = 0x27,
                        MODE_28                                         = 0x28,
                        MODE_29                                         = 0x29,
                        MODE_2A                                         = 0x2A,
                        MODE_2B                                         = 0x2B,
                        MODE_2C                                         = 0x2C,
                        MODE_2E                                         = 0x2E,
                        MODE_50                                         = 0x50,
                        //Group D - Setting the Data Transmission Rate
                        MODE_40                                         = 0x40,
                        MODE_41                                         = 0x41,
                        MODE_42                                         = 0x42,
                        MODE_48                                         = 0x48,
                };

                // Output measured values of a partial scan directly
                // after the measurement continuously
                void mode (mode_t mode);

                enum baud_t
                {
                        BAUD_38400                                      = 0x40,
                        BAUD_19200                                      = 0x41,
                        BAUD_9600                                       = 0x42,
                        BAUD_500K                                       = 0x48,
                };
                void baud_rate (baud_t baud);

        protected:
                unsigned _build (void);

                unsigned m_sc_size;
                unsigned char m_sc_data[404];
        };
};


#endif

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