Fawkes API Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * Laser720Interface.h - Fawkes BlackBoard Interface - Laser720Interface 00004 * 00005 * Templated created: Thu Oct 12 10:49:19 2006 00006 * Copyright 2008 Tim Niemueller 00007 * 00008 ****************************************************************************/ 00009 00010 /* This program is free software; you can redistribute it and/or modify 00011 * it under the terms of the GNU General Public License as published by 00012 * the Free Software Foundation; either version 2 of the License, or 00013 * (at your option) any later version. A runtime exception applies to 00014 * this software (see LICENSE.GPL_WRE file mentioned below for details). 00015 * 00016 * This program is distributed in the hope that it will be useful, 00017 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00018 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00019 * GNU Library General Public License for more details. 00020 * 00021 * Read the full text in the LICENSE.GPL_WRE file in the doc directory. 00022 */ 00023 00024 #ifndef __INTERFACES_LASER720INTERFACE_H_ 00025 #define __INTERFACES_LASER720INTERFACE_H_ 00026 00027 #include <interface/interface.h> 00028 #include <interface/message.h> 00029 #include <interface/field_iterator.h> 00030 00031 namespace fawkes { 00032 00033 class Laser720Interface : public Interface 00034 { 00035 /// @cond INTERNALS 00036 INTERFACE_MGMT_FRIENDS(Laser720Interface) 00037 /// @endcond 00038 public: 00039 /* constants */ 00040 00041 private: 00042 #pragma pack(push,4) 00043 /** Internal data storage, do NOT modify! */ 00044 typedef struct { 00045 int64_t timestamp_sec; /**< Interface Unix timestamp, seconds */ 00046 int64_t timestamp_usec; /**< Interface Unix timestamp, micro-seconds */ 00047 float distances[720]; /**< 00048 The distances in meter of the beams. 00049 */ 00050 bool clockwise_angle; /**< 00051 True if the angle grows clockwise. 00052 */ 00053 } Laser720Interface_data_t; 00054 #pragma pack(pop) 00055 00056 Laser720Interface_data_t *data; 00057 00058 public: 00059 /* messages */ 00060 virtual bool message_valid(const Message *message) const; 00061 private: 00062 Laser720Interface(); 00063 ~Laser720Interface(); 00064 00065 public: 00066 /* Methods */ 00067 float * distances() const; 00068 float distances(unsigned int index) const; 00069 void set_distances(unsigned int index, const float new_distances); 00070 void set_distances(const float * new_distances); 00071 size_t maxlenof_distances() const; 00072 bool is_clockwise_angle() const; 00073 void set_clockwise_angle(const bool new_clockwise_angle); 00074 size_t maxlenof_clockwise_angle() const; 00075 virtual Message * create_message(const char *type) const; 00076 00077 virtual void copy_values(const Interface *other); 00078 virtual const char * enum_tostring(const char *enumtype, int val) const; 00079 00080 }; 00081 00082 } // end namespace fawkes 00083 00084 #endif