view/rangesCtrl/ScipHandler.h

#ifndef SCIP_HANDLE_H
#define SCIP_HANDLE_H

/*!
  \file
  \brief SCIP nh

  \author Satofumi KAMIMURA

  $Id$
*/

#include <memory>
#include <vector>
#include <string>

namespace beego {
  class ConnectionInterface;
  class SensorParameter;

  /*!
    \brief SCIP2.0 §ä
  */
  class ScipHandler {
    ScipHandler(const ScipHandler& rhs);
    ScipHandler& operator = (const ScipHandler& rhs);

    struct pImpl;
    const std::auto_ptr<pImpl> pimpl;

  public:
    enum {
      QT_Recv = -9,

      NoWaitReply = true,
      WaitReply = false,
    };
    ScipHandler(void);
    ~ScipHandler(void);
    const char* what(void);

    void setConnection(ConnectionInterface* con);
    ConnectionInterface* getConnection(void);
    void disconnect(void);
    bool isConnected(void) const;
    bool adjustBaudrate(long baudrate);
    bool setBaudrate(long baudrate);
    bool getVersionInfo(std::vector<std::string>& lines);
    bool loadSensorParameter(SensorParameter* parameter);
    void setSensorParameter(const SensorParameter* parameter);
    void setCaptureTimes(int times);
    void sendCaptureMessage(char cmd = 'M');
    int recvCaptureData(long* data, size_t max_size, size_t& timestamp);
    int capture(long data[], size_t max_size, size_t& timestamp);

    // !!! ąĚ ˝čĚ\bhźÍAČńĆŠľ˝˘
    int stopCapture(void);
    void forceStopCapture(bool no_wait_reply);

    void setFrameSkipFrames(size_t skip_frames);
    void setDataGroups(size_t groups);
    void setCaptureRange(int first_index, int last_index);
    int getFrontIndex(void) const;
    long getMinDistance(void) const;
    long getMaxDistance(void) const;
    int getMaxDataLength(void) const;
    int getScanRpm(void);
    void setLaserOutput(bool on);
    double index2rad(const int index);
    int rad2index(const double radian);
    size_t getImmediateTimestamp(int* estimated_delay);
  };
};

#endif /* !SCIP_HANDLE_H */