Rangefinder2DTransformer.h

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/*
 * SPDX-FileCopyrightText: 2024-2024 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: LGPL-2.1-or-later
 */
 
#ifndef YARP_DEV_RANGEFINDER2DTRANSFORMER
#define YARP_DEV_RANGEFINDER2DTRANSFORMER
 
 
#include <yarp/os/Network.h>
#include <yarp/os/Stamp.h>
#include <yarp/os/BufferedPort.h>
#include <yarp/dev/IRangefinder2D.h>
#include <yarp/dev/ControlBoardInterfaces.h>
#include <yarp/dev/ControlBoardHelpers.h>
#include <yarp/sig/LaserScan2D.h>
#include <yarp/sig/Vector.h>
#include <yarp/os/Time.h>
#include <yarp/dev/PolyDriver.h>
#include <yarp/dev/WrapperSingle.h>
 
#include "Rangefinder2DTransformer_ParamsParser.h"
#include <mutex>
 
 
#define DEFAULT_THREAD_PERIOD 20 //ms
const int LASER_TIMEOUT=100; //ms
 
class Rangefinder2DTransformer:
        public yarp::dev::DeviceDriver,
        public yarp::dev::IRangefinder2D,
        public yarp::dev::WrapperSingle,
        public Rangefinder2DTransformer_ParamsParser
{
protected:
    // interfaces
    yarp::dev::IRangefinder2D* sens_p=nullptr;
 
    //data
    double m_scan_angle_min = std::nan("1");
    double m_scan_angle_max = std::nan("1");
 
public:
 
    /* DevideDriver methods */
    bool open(yarp::os::Searchable& config) override;
    bool close() override;
 
    /* IRangefinder2D methods */
    yarp::dev::ReturnValue getLaserMeasurement(std::vector<yarp::sig::LaserMeasurementData> &data, double* timestamp = nullptr) override;
    yarp::dev::ReturnValue getRawData(yarp::sig::Vector &data, double* timestamp = nullptr) override;
    yarp::dev::ReturnValue getDeviceStatus(Device_status &status) override;
    yarp::dev::ReturnValue getDistanceRange(double& min, double& max) override;
    yarp::dev::ReturnValue setDistanceRange(double min, double max) override;
    yarp::dev::ReturnValue getScanLimits(double& min, double& max) override;
    yarp::dev::ReturnValue setScanLimits(double min, double max) override;
    yarp::dev::ReturnValue getHorizontalResolution(double& step) override;
    yarp::dev::ReturnValue setHorizontalResolution(double step) override;
    yarp::dev::ReturnValue getScanRate(double& rate) override;
    yarp::dev::ReturnValue setScanRate(double rate) override;
    yarp::dev::ReturnValue getDeviceInfo(std::string &device_info) override;
 
    /* WrapperSingle  methods */
    bool attach(yarp::dev::PolyDriver* driver) override;
    bool detach() override;
};
 
#endif // YARP_DEV_RANGEFINDER2DCLIENT_RANGEFINDER2DCLIENT_H