lms1xx.h

Go to the documentation of this file.

/*
 * 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_ */