LaserInterface.h

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/***************************************************************
 
 Mini Grand Challenge 2010
 Pennsylvania State University - Robotics Club
 Learn more at www.psurobotics.org
 Protected by the GNU General Public License
 LaserInterface.h 
***************************************************************/

#ifndef __LASERINTERFACE_H_
#define __LASERINTERFACE_H_

// Includes
#include <stdio.h>
#include <stdlib.h>
#include "../Shared/BaseComponent.h"
#include <string.h>
#include <vector>
#include <fstream>

#include <hokuyo_aist/hokuyo_aist.h>

using namespace std;

const int MAX_SIZE = 1024;

class LaserInterface : public BaseComponent
{
public:
        LaserInterface();
        ~LaserInterface();
        int Update();   
        void setBaudRate(unsigned int baud);
        vector<uint32_t> getCollisionPoints();
        void powerOn(bool on);

private:
        void initialize();      
        double stepToAngle(int step);
        int angleToStep(double angle);  

        char theBuffer[MAX_SIZE];       
        int bytesRead;  
        char* theDevice;
        string portOptions;
        char* type;
        char* timeout;
        hokuyo_aist::HokuyoLaser laser;
        hokuyo_aist::HokuyoSensorInfo sensorInfo;
        hokuyo_aist::HokuyoData laserData;
        int baudRate;
        bool writeToFile;
        ofstream outFile;
        
        //the collisionPoints
        //the index of of the vector represents the step index
        //the element @ that index represents the distance to the collision points
        vector<uint32_t> collisionPoints;


};

#endif

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