LD_MRS.hpp

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//
// LD_MRS.hpp
// Device class of the LD-MRS class Laserscanners.
//
#ifndef LDMRS_HPP
#define LDMRS_HPP

#include "../BasicDatatypes.hpp"
#include "BasicDevice.hpp"
#include "../manager.hpp"

//#include "../sopas/SopasBase.hpp"
#include "../sopas/LdmrsSopasLayer.hpp"
#include "LuxBase.hpp"

#include "../interfaces/tcp.hpp"

namespace devices
{

using namespace datatypes;


class LDMRS: public BasicDevice
{

private:
        Manager* m_manager;
        LdmrsSopasLayer* m_sopas;
        LuxBase* m_lux;

        bool m_beVerbose;
        bool m_isRunning;

        // Config data for LDMRS
        bool m_weWantScanData;
        bool m_weWantFieldData;
        bool m_weWantObjectData;
        bool m_weWantScanDataFromSopas;
        
        bool m_readOnlyMode;
        std::string  m_ipAddress;
        UINT16 m_luxPortNumber;
        UINT16 m_SopasPortNumber;
        std::string m_inputFileName;

        // Config data for LuxBase
        double m_scanFrequency;
        double m_scanStartAngle;
        double m_scanEndAngle;
        double m_offsetX;
        double m_offsetY;
        double m_offsetZ;
        double m_yawAngle;
        double m_pitchAngle;
        double m_rollAngle;
        
protected:
        void disconnectFunction();
        void onScanReceived();

public:
        LDMRS(Manager* manager);
        ~LDMRS();

        // Inherited from device
        virtual bool init();
        virtual void shutdown();
        virtual bool run();
        virtual bool stop();
        virtual bool isRunning();

        // returns true if command succeeded.
        bool getParameter(MrsParameterId id, UINT32* value);
        
        // returns true if command succeeded.
        bool setParameter(MrsParameterId id, UINT32 value);

        // Sets the MRS-internal clock to the given time.
        bool setNtpTime(UINT32 seconds, UINT32 fractionalSec);

        // Sets scan start and end angles.
        bool setScanAngles(double startAngle, double endAngle);

        // Sets sync angle offset.
        bool setSyncAngleOffset(double syncAngle);

        // Sets scan frequency.
        // valid values are 12.5, 25.0 and 50.0 [Hz].
        bool setScanFrequency(double scanFreq);

        std::string getIpAddress();

        void setIpAddress(std::string ipAddress);

        void setWeWantObjectData(bool weWantObjectData);

        // returns the serial number
        std::string getSerialNumber();

        // returns the firmware version
        std::string getFirmwareVersion();

        // returns the FPGA version
        std::string getFPGAVersion();

        // returns the sensor temperature in degree celsius
        double getTemperature();

        // Function will be called if the scanner loses its tcp connection.
        static void disconnectFunctionS(void* obj);

        // Function callback to be invoked when a scan was received.
        static void onScanReceivedS(void* obj);
        
        // Write a field to the sensor.
        bool writeField(UINT16 fieldNum, const FieldParameter& para);
        
        // Write the EvalCases to the sensor.
        bool writeEvalCases(const EvalCases& evalCases);
        
        // Stores the SOPAS config data (fields and eval cases) permanently.
        bool flashSopasConfig();
};

}       // namespace devices

#endif // LDMRS_HPP