Fawkes API Fawkes Development Version
Laser1080Interface.h
1
2/***************************************************************************
3 * Laser1080Interface.h - Fawkes BlackBoard Interface - Laser1080Interface
4 *
5 * Templated created: Thu Oct 12 10:49:19 2006
6 * Copyright 2008-2015 Tim Niemueller
7 *
8 ****************************************************************************/
9
10/* This program is free software; you can redistribute it and/or modify
11 * it under the terms of the GNU General Public License as published by
12 * the Free Software Foundation; either version 2 of the License, or
13 * (at your option) any later version. A runtime exception applies to
14 * this software (see LICENSE.GPL_WRE file mentioned below for details).
15 *
16 * This program is distributed in the hope that it will be useful,
17 * but WITHOUT ANY WARRANTY; without even the implied warranty of
18 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19 * GNU Library General Public License for more details.
20 *
21 * Read the full text in the LICENSE.GPL_WRE file in the doc directory.
22 */
23
24#ifndef _INTERFACES_LASER1080INTERFACE_H_
25#define _INTERFACES_LASER1080INTERFACE_H_
26
27#include <interface/interface.h>
28#include <interface/message.h>
29#include <interface/field_iterator.h>
30
31namespace fawkes {
32
34{
35 /// @cond INTERNALS
36 INTERFACE_MGMT_FRIENDS(Laser1080Interface)
37 /// @endcond
38 public:
39 /* constants */
40
41 private:
42 /** Internal data storage, do NOT modify! */
43 typedef struct {
44 int64_t timestamp_sec; /**< Interface Unix timestamp, seconds */
45 int64_t timestamp_usec; /**< Interface Unix timestamp, micro-seconds */
46 char frame[32]; /**<
47 Coordinate frame in which the data is presented.
48 */
49 float distances[1080]; /**<
50 The distances in meter of the beams.
51 */
52 bool clockwise_angle; /**<
53 True if the angle grows clockwise.
54 */
55 } Laser1080Interface_data_t;
56
57 Laser1080Interface_data_t *data;
58
59 public:
60 /* messages */
61 virtual bool message_valid(const Message *message) const;
62 private:
65
66 public:
67 /* Methods */
68 char * frame() const;
69 void set_frame(const char * new_frame);
70 size_t maxlenof_frame() const;
71 float * distances() const;
72 float distances(unsigned int index) const;
73 void set_distances(unsigned int index, const float new_distances);
74 void set_distances(const float * new_distances);
75 size_t maxlenof_distances() const;
76 bool is_clockwise_angle() const;
77 void set_clockwise_angle(const bool new_clockwise_angle);
78 size_t maxlenof_clockwise_angle() const;
79 virtual Message * create_message(const char *type) const;
80
81 virtual void copy_values(const Interface *other);
82 virtual const char * enum_tostring(const char *enumtype, int val) const;
83
84};
85
86} // end namespace fawkes
87
88#endif
Base class for all Fawkes BlackBoard interfaces.
Definition: interface.h:80
const char * type() const
Get type of interface.
Definition: interface.cpp:652
Laser1080Interface Fawkes BlackBoard Interface.
void set_frame(const char *new_frame)
Set frame value.
char * frame() const
Get frame value.
void set_clockwise_angle(const bool new_clockwise_angle)
Set clockwise_angle value.
virtual const char * enum_tostring(const char *enumtype, int val) const
Convert arbitrary enum value to string.
void set_distances(unsigned int index, const float new_distances)
Set distances value at given index.
size_t maxlenof_frame() const
Get maximum length of frame value.
bool is_clockwise_angle() const
Get clockwise_angle value.
size_t maxlenof_distances() const
Get maximum length of distances value.
virtual void copy_values(const Interface *other)
Copy values from other interface.
virtual bool message_valid(const Message *message) const
Check if message is valid and can be enqueued.
float * distances() const
Get distances value.
size_t maxlenof_clockwise_angle() const
Get maximum length of clockwise_angle value.
virtual Message * create_message(const char *type) const
Create message based on type name.
Base class for all messages passed through interfaces in Fawkes BlackBoard.
Definition: message.h:44
Fawkes library namespace.