tibi_dabo_laser_3d_driver.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _tibi_dabo_laser_3d_driver_h_
#define _tibi_dabo_laser_3d_driver_h_

#include <iri_base_driver/iri_base_driver.h>
#include <tibi_dabo_laser_3d/TibiDaboLaser3dConfig.h>

//include tibi_dabo_laser_3d_driver main library
#include "dynamixel_motor.h"

typedef enum {left_right_scan=0,right_left_scan=1} scan_dir;

class TibiDaboLaser3dDriver : public iri_base_driver::IriBaseDriver
{
  private:
    // private attributes and methods
    CDynamixelMotor *servo;
    // Dynamixel bus configuration
    std::string serial_number;
    int baudrate;
    // servo configuration
    unsigned char servo_id; 
    std::string servo_config_file;
    // motion configuration
    double new_velocity;
    double new_max_angle;
    double new_min_angle;
    double current_velocity;
    double current_max_angle;
    double current_min_angle;
    bool scan_enabled;
    double fixed_angle;
    scan_dir dir;
  public:
    typedef tibi_dabo_laser_3d::TibiDaboLaser3dConfig Config;

    Config config_;

    TibiDaboLaser3dDriver(void);

    bool openDriver(void);

    bool closeDriver(void);

    bool startDriver(void);

    bool stopDriver(void);

    void config_update(Config& new_cfg, uint32_t level=0);

    // here define all tibi_dabo_laser_3d_driver interface methods to retrieve and set
    // the driver parameters
    void start_scan(void);
    bool is_scan_done(void);
    double get_current_angle(void);
    double get_current_velocity(void);
    bool is_scan_enabled(void);
    double get_fixed_angle(void);
    void move_absolute_angle(double angle);

    ~TibiDaboLaser3dDriver(void);
};

#endif