sick/sick.H

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// Copyright (C) 2004 Pablo Mejia


#ifndef CAJUN_SICK_H
#define CAJUN_SICK_H


#include "msg_0xB0.H"
#include "msg_0xF5.H"
#include "msg_0xC4.H"
#include "data_type.H"

namespace cajun
{
        class input_buffer_t;

        class sick_t
        {
#define MAX_BYTE_ELAPSE                 14//millisecond
#define WAIT_AFTER_NAK                  30//millisecond
#define MAX_MODE_CHANGE_ELAPSE          5000//millisecond

        public:
                sick_t ();
                ~sick_t ();

                void handle_input (int fd);

                class observer_t
                {
                public:
                        virtual ~observer_t () {}

                        virtual void scan (double tstamp,
                                           sick::msg_0xB0_t const &msg) {}
                        virtual void scan (double tstamp,
                                           sick::msg_0xF5_t const &msg) {}
                        virtual void scan (double tstamp,
                                           sick::msg_0xC4_t const &msg) {}
                        virtual void publish_status (double tstamp,
                                                           unsigned status) {}
                };

                void register_observer (observer_t *observer)
                {
                        m_observer = observer;
                }

                void setup (int fd, bool reflectivity);
        protected:

                input_buffer_t *m_ib;

                observer_t *m_observer;

                double m_down_time;
                bool m_garbage_data;
                bool m_reflectivity;
        };
};


#endif

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