lms1xx.h

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/*
 * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0

 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */
 

#ifndef LMS1XX_H_
#define LMS1XX_H_

#include <string>
#include <stdint.h>

typedef struct _scanCfg {
        int scaningFrequency;

        int angleResolution;

        int startAngle;

        int stopAngle;
} scanCfg;

typedef struct _scanDataCfg {

        int outputChannel;

        bool remission;

        int resolution;

        int encoder;

        bool position;

        bool deviceName;

        bool timestamp;

        int outputInterval;
} scanDataCfg;

typedef struct _scanData {

        int dist_len1;

        uint16_t dist1[1082];

        int dist_len2;

        uint16_t dist2[1082];

        int rssi_len1;

        uint16_t rssi1[1082];

        int rssi_len2;

        uint16_t rssi2[1082];
} scanData;

typedef enum {
        undefined = 0,
        initialisation = 1,
        configuration = 2,
        idle = 3,
        rotated = 4,
        in_preparation = 5,
        ready = 6,
        ready_for_measurement = 7
} status_t;

class LMS1xx {
public:
        LMS1xx();
        virtual ~LMS1xx();

        void connect(std::string host, int port = 2111);

        void disconnect();

        bool isConnected();

        void startMeas();

        void stopMeas();

        status_t queryStatus();

        void login();

        scanCfg getScanCfg() const;

        void setScanCfg(const scanCfg &cfg);

        void setScanDataCfg(const scanDataCfg &cfg);

        void scanContinous(int start);

        bool getData(scanData& data);

        void saveConfig();

        void startDevice();

private:
        bool connected;
        bool debug;

        int sockDesc;
};

#endif /* LMS1XX_H_ */