IRangefinder2D.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_DEV_IRANGEFINDER2D_H
#define YARP_DEV_IRANGEFINDER2D_H
 
#include <yarp/os/Vocab.h>
#include <yarp/dev/api.h>
#include <yarp/dev/ReturnValue.h>
#include <yarp/sig/Vector.h>
#include <yarp/sig/LaserMeasurementData.h>
#include <vector>
#include <string>
 
constexpr yarp::conf::vocab32_t VOCAB_ILASER2D             = yarp::os::createVocab32('i','l','a','s');
constexpr yarp::conf::vocab32_t VOCAB_DEVICE_INFO          = yarp::os::createVocab32('l','s','n','f');
constexpr yarp::conf::vocab32_t VOCAB_LASER_DISTANCE_RANGE = yarp::os::createVocab32('l','s','d','r');
constexpr yarp::conf::vocab32_t VOCAB_LASER_ANGULAR_RANGE  = yarp::os::createVocab32('l','s','a','r');
constexpr yarp::conf::vocab32_t VOCAB_LASER_ANGULAR_STEP   = yarp::os::createVocab32('l','s','a','s');
constexpr yarp::conf::vocab32_t VOCAB_LASER_SCAN_RATE      = yarp::os::createVocab32('l','s','s','r');
 
namespace yarp::dev {
class IRangefinder2D;
}
 
class YARP_dev_API yarp::dev::IRangefinder2D
{
public:
    enum Device_status
    {
        DEVICE_OK_STANDBY       = 0,
        DEVICE_OK_IN_USE        = 1,
        DEVICE_GENERAL_ERROR    = 2,
        DEVICE_TIMEOUT          = 3
    };
 
    virtual ~IRangefinder2D();
 
    virtual ReturnValue getLaserMeasurement(std::vector<yarp::sig::LaserMeasurementData> &data, double* timestamp = nullptr) = 0;
 
    virtual ReturnValue getRawData(yarp::sig::Vector &data, double* timestamp = nullptr) = 0;
 
    virtual ReturnValue getDeviceStatus(Device_status& status) = 0;
 
    virtual ReturnValue getDistanceRange(double& min, double& max) = 0;
 
    virtual ReturnValue setDistanceRange(double min, double max) = 0;
 
    virtual ReturnValue getScanLimits(double& min, double& max) = 0;
 
    virtual ReturnValue setScanLimits(double min, double max) = 0;
 
    virtual ReturnValue getHorizontalResolution(double& step) = 0;
 
    virtual ReturnValue setHorizontalResolution(double step) = 0;
 
    virtual ReturnValue getScanRate(double& rate) = 0;
 
    virtual ReturnValue setScanRate(double rate) = 0;
 
    virtual ReturnValue getDeviceInfo(std::string &device_info) = 0;
};
 
#endif // YARP_DEV_IRANGEFINDER2D_H