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26 typedef unsigned char uint8_t;
27 typedef unsigned int uint32_t;
28 #if defined(HOKUYO_AIST_STATIC)
29 #define HOKUYO_AIST_EXPORT
30 #elif defined(HOKUYO_AIST_EXPORTS)
31 #define HOKUYO_AIST_EXPORT __declspec(dllexport)
33 #define HOKUYO_AIST_EXPORT __declspec(dllimport)
37 #define HOKUYO_AIST_EXPORT
74 HOKUYO_AIST_EXPORT inline char const* multiecho_mode_to_string( MultiechoMode mode)
125 Sensor(std::ostream& err_output);
129 void open(std::string port_options);
141 unsigned int open_with_probing(std::string port_options);
147 bool is_open() const;
150 void set_power( bool on);
156 void set_baud( unsigned int baud);
187 void set_motor_speed( unsigned int speed);
191 void set_high_sensitivity( bool on);
201 unsigned int get_time();
206 unsigned int get_raw_time();
236 long long calibrate_time( unsigned int skew_sleep_time=0,
237 unsigned int samples=10);
243 void set_time_offset( long long time_offset)
244 { time_offset_ = time_offset; }
262 void set_drift_rate( float drift_rate)
263 { time_drift_rate_ = drift_rate; }
303 unsigned int get_ranges( ScanData& data, int start_step = -1,
304 int end_step = -1, unsigned int cluster_count = 1);
320 unsigned int get_ranges_by_angle( ScanData& data, double start_angle,
321 double end_angle, unsigned int cluster_count = 1);
345 unsigned int get_ranges_intensities( ScanData& data,
346 int start_step = -1, int end_step = -1,
347 unsigned int cluster_count = 1);
363 unsigned int get_ranges_intensities_by_angle( ScanData& data,
364 double start_angle, double end_angle,
365 unsigned int cluster_count = 1);
395 unsigned int get_new_ranges( ScanData& data, int start_step = -1,
396 int end_step = -1, unsigned int cluster_count = 1);
414 unsigned int get_new_ranges_by_angle( ScanData& data,
415 double start_angle, double end_angle,
416 unsigned int cluster_count = 1);
445 unsigned int get_new_ranges_intensities( ScanData& data,
446 int start_step = -1, int end_step = -1,
447 unsigned int cluster_count = 1);
465 unsigned int get_new_ranges_intensities_by_angle( ScanData& data,
466 double start_angle, double end_angle,
467 unsigned int cluster_count = 1);
484 double step_to_angle( unsigned int step);
487 unsigned int angle_to_step( double angle);
491 std::ostream& err_output_;
493 uint8_t scip_version_;
495 bool verbose_, enable_checksum_workaround_,
498 double min_angle_, max_angle_, resolution_;
499 int first_step_, last_step_, front_step_;
500 unsigned int max_range_;
502 unsigned int time_resolution_;
505 long long time_offset_;
508 unsigned int last_timestamp_;
510 unsigned int wrap_count_;
512 float time_drift_rate_;
514 float time_skew_alpha_;
516 void clear_read_buffer();
517 int read_line( char* buffer, int expected_length=-1);
518 int read_line_with_check( char* buffer, int expected_length=-1,
519 bool has_semicolon= false);
520 bool read_data_block( char* buffer, int& block_size);
521 void skip_lines( int count);
522 int send_command( char const* cmd, char const* param, int param_length,
523 char const* extra_ok);
525 void enter_timing_mode();
526 void leave_timing_mode();
528 unsigned int get_timing_mode_time( unsigned long long* reception_time=0);
530 unsigned long long get_computer_time();
532 unsigned int wrap_timestamp( unsigned int timestamp);
535 unsigned long long offset_timestamp( unsigned int timestamp);
538 unsigned int step_to_time_offset( int start_step);
540 void find_model( char const* buffer);
541 void get_and_set_scip_version();
543 void process_vv_line( char const* buffer, SensorInfo& info);
544 void process_pp_line( char const* buffer, SensorInfo& info);
545 void process_ii_line( char const* buffer, SensorInfo& info);
547 uint32_t process_echo_buffer( int const* buffer, int num_echos);
548 void read_2_byte_range_data( ScanData& data, unsigned int num_steps);
549 void read_3_byte_range_data( ScanData& data, unsigned int num_steps);
550 void read_3_byte_range_and_intensity_data( ScanData& data,
551 unsigned int num_steps);
553 int confirm_checksum( char const* buffer, int length,
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