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Laser720Interface.h
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/***************************************************************************
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* Laser720Interface.h - Fawkes BlackBoard Interface - Laser720Interface
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*
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* Templated created: Thu Oct 12 10:49:19 2006
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* Copyright 2008 Tim Niemueller
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*
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****************************************************************************/
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/* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version. A runtime exception applies to
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* this software (see LICENSE.GPL_WRE file mentioned below for details).
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Library General Public License for more details.
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*
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* Read the full text in the LICENSE.GPL_WRE file in the doc directory.
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*/
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#ifndef __INTERFACES_LASER720INTERFACE_H_
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#define __INTERFACES_LASER720INTERFACE_H_
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#include <interface/interface.h>
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#include <interface/message.h>
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#include <interface/field_iterator.h>
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namespace
fawkes {
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class
Laser720Interface
:
public
Interface
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{
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/// @cond INTERNALS
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INTERFACE_MGMT_FRIENDS(
Laser720Interface
)
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/// @endcond
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public
:
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/* constants */
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private
:
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#pragma pack(push,4)
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/** Internal data storage, do NOT modify! */
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typedef
struct
{
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int64_t timestamp_sec;
/**< Interface Unix timestamp, seconds */
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int64_t timestamp_usec;
/**< Interface Unix timestamp, micro-seconds */
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char
frame
[32];
/**<
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Coordinate frame in which the data is presented.
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*/
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float
distances
[720];
/**<
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The distances in meter of the beams.
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*/
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bool
clockwise_angle;
/**<
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True if the angle grows clockwise.
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*/
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} Laser720Interface_data_t;
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#pragma pack(pop)
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Laser720Interface_data_t *data;
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public
:
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/* messages */
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virtual
bool
message_valid
(
const
Message
*message)
const
;
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private
:
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Laser720Interface
();
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~
Laser720Interface
();
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public
:
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/* Methods */
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char
*
frame
()
const
;
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void
set_frame
(
const
char
* new_frame);
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size_t
maxlenof_frame
()
const
;
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float
*
distances
()
const
;
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float
distances
(
unsigned
int
index)
const
;
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void
set_distances
(
unsigned
int
index,
const
float
new_distances);
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void
set_distances
(
const
float
* new_distances);
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size_t
maxlenof_distances
()
const
;
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bool
is_clockwise_angle
()
const
;
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void
set_clockwise_angle
(
const
bool
new_clockwise_angle);
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size_t
maxlenof_clockwise_angle
()
const
;
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virtual
Message
*
create_message
(
const
char
*
type
)
const
;
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virtual
void
copy_values
(
const
Interface
*other);
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virtual
const
char
*
enum_tostring
(
const
char
*enumtype,
int
val)
const
;
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};
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}
// end namespace fawkes
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#endif
src
libs
interfaces
Laser720Interface.h
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