11 #ifndef GBX_SICK_ACFR_H
12 #define GBX_SICK_ACFR_H
14 #include <gbxsickacfr/serialhandler.h>
15 #include <gbxutilacfr/tracer.h>
16 #include <gbxutilacfr/status.h>
19 namespace gbxsickacfr {
27 std::string toString()
const;
28 bool operator==(
const Config & other );
29 bool operator!=(
const Config & other );
56 unsigned char *intensities;
92 bool waitForRxMsgType( uChar type, TimedLmsRxMsg &rxMsg,
int maxWaitMs );
95 bool waitForAckOrNack(
bool &receivedAck );
97 LmsRxMsgPtr askLaserForStatusData();
98 LmsRxMsgPtr askLaserForConfigData();
100 LmsConfigurationData desiredConfiguration();
101 bool isAsDesired(
const LmsConfigurationData &lmsConfig );
103 int guessLaserBaudRate();
108 TimedLmsRxMsg sendAndExpectRxMsg(
const std::vector<uChar> &commandAndData,
109 bool ignoreErrorConditions=
false );
111 std::string errorConditions();
113 uChar desiredMeasuredValueUnit();
114 uint16_t desiredAngularResolution();
116 void setBaudRate(
int baudRate );
120 std::auto_ptr<SerialHandler> serialHandler_;
122 std::vector<uChar> commandAndData_;
123 std::vector<uChar> telegramBuffer_;