urgInterface.h

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#ifndef URG_INTERFACE_H
#define URG_INTERFACE_H

#include <math.h>
#include "math_util.h"


namespace URG {
  enum {
    AutoCapture = true, ManualCapture = false,
    DefaultBaudrate = 115200,
  };
};

class URGInterface {
public:
  typedef struct {
    int cycle_step_max;         
    int first_step;             
    int sense_steps;            
    int rotate_direction;       
    int cycle_msec;             
    long length_min;            
    long length_max;            
    int ticks_begin_step; 
  } urgParams_t;

public:
  virtual ~URGInterface(void) {}

  virtual urgParams_t& getParameters(void) = 0;

  virtual long* getLengthData(void) = 0;

  virtual const char* what(void) = 0;

  virtual int connect(const char* device,
                      long baudrate = URG::DefaultBaudrate,
                      bool autoCapture = URG::AutoCapture) = 0;

  virtual int connect(int argc, char *argv[],
                      bool autoCapture = URG::AutoCapture) = 0;


  virtual void disconnect(void) = 0;

  virtual int capture(int first_index, int last_index, int group = 1) = 0;

  virtual int capture(int group = 1) = 0;

  virtual double index2rad(int index) {
    urgParams_t& params = getParameters();
    return (params.first_step + params.rotate_direction * index) *
      (2.0*M_PI) / params.cycle_step_max;
  }

  virtual int rad2index(double radian) {
    urgParams_t& params = getParameters();
    return static_cast<int>(radian / (2.0 * M_PI) * params.cycle_step_max
                            - params.first_step);
  }
};

#endif /* !URG_INTERFACE_H */