lms1xx.h

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/*
 * LMS1xx.h
 *
 *  Created on: 09-08-2010
 *  Author: Konrad Banachowicz
 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU Lesser General Public            *
 *   License as published by the Free Software Foundation; either          *
 *   version 2.1 of the License, or (at your option) any later version.    *
 *                                                                         *
 *   This library is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
 *   Lesser General Public License for more details.                       *
 *                                                                         *
 *   You should have received a copy of the GNU Lesser General Public      *
 *   License along with this library; if not, write to the Free Software   *
 *   Foundation, Inc., 59 Temple Place,                                    *
 *   Suite 330, Boston, MA  02111-1307  USA                                *
 *                                                                         *
 ***************************************************************************/

#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);

    void getData(scanData& data);

    void saveConfig();

    void startDevice();

private:
    bool connected;
    bool debug;

    int sockDesc;
};

#endif /* LMS1XX_H_ */