Fawkes API  Fawkes Development Version
Laser360Interface.cpp
1 
2 /***************************************************************************
3  * Laser360Interface.cpp - Fawkes BlackBoard Interface - Laser360Interface
4  *
5  * Templated created: Thu Oct 12 10:49:19 2006
6  * Copyright 2008-2009 Tim Niemueller
7  *
8  ****************************************************************************/
9 
10 /* This program is free software; you can redistribute it and/or modify
11  * it under the terms of the GNU General Public License as published by
12  * the Free Software Foundation; either version 2 of the License, or
13  * (at your option) any later version. A runtime exception applies to
14  * this software (see LICENSE.GPL_WRE file mentioned below for details).
15  *
16  * This program is distributed in the hope that it will be useful,
17  * but WITHOUT ANY WARRANTY; without even the implied warranty of
18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19  * GNU Library General Public License for more details.
20  *
21  * Read the full text in the LICENSE.GPL_WRE file in the doc directory.
22  */
23 
24 #include <interfaces/Laser360Interface.h>
25 
26 #include <core/exceptions/software.h>
27 
28 #include <map>
29 #include <string>
30 #include <cstring>
31 #include <cstdlib>
32 
33 namespace fawkes {
34 
35 /** @class Laser360Interface <interfaces/Laser360Interface.h>
36  * Laser360Interface Fawkes BlackBoard Interface.
37  *
38  This interface provides access to data of a laser scanner that produces
39  360 beams per scan. The inter-beam distance is 1 deg, 0 deg is
40  "forward", i.e. in the Fawkes coordinate system pointing towards
41  the cartesian point (1,0). The direction in which the angle
42  grows is indicated by the clockwise_angle field.
43 
44  * @ingroup FawkesInterfaces
45  */
46 
47 
48 
49 /** Constructor */
50 Laser360Interface::Laser360Interface() : Interface()
51 {
52  data_size = sizeof(Laser360Interface_data_t);
53  data_ptr = malloc(data_size);
54  data = (Laser360Interface_data_t *)data_ptr;
55  data_ts = (interface_data_ts_t *)data_ptr;
56  memset(data_ptr, 0, data_size);
57  add_fieldinfo(IFT_STRING, "frame", 32, data->frame);
58  add_fieldinfo(IFT_FLOAT, "distances", 360, &data->distances);
59  add_fieldinfo(IFT_BOOL, "clockwise_angle", 1, &data->clockwise_angle);
60  unsigned char tmp_hash[] = {0x5c, 0x1, 0x85, 0x24, 0x85, 0x28, 0x1f, 0xc6, 0xae, 0x4c, 0x46, 0x66, 0xe9, 0xcb, 0xe9, 0x4e};
61  set_hash(tmp_hash);
62 }
63 
64 /** Destructor */
65 Laser360Interface::~Laser360Interface()
66 {
67  free(data_ptr);
68 }
69 /* Methods */
70 /** Get frame value.
71  *
72  Coordinate frame in which the data is presented.
73 
74  * @return frame value
75  */
76 char *
77 Laser360Interface::frame() const
78 {
79  return data->frame;
80 }
81 
82 /** Get maximum length of frame value.
83  * @return length of frame value, can be length of the array or number of
84  * maximum number of characters for a string
85  */
86 size_t
87 Laser360Interface::maxlenof_frame() const
88 {
89  return 32;
90 }
91 
92 /** Set frame value.
93  *
94  Coordinate frame in which the data is presented.
95 
96  * @param new_frame new frame value
97  */
98 void
99 Laser360Interface::set_frame(const char * new_frame)
100 {
101  set_field(data->frame, new_frame);
102 }
103 
104 /** Get distances value.
105  *
106  The distances in meter of the beams.
107 
108  * @return distances value
109  */
110 float *
111 Laser360Interface::distances() const
112 {
113  return data->distances;
114 }
115 
116 /** Get distances value at given index.
117  *
118  The distances in meter of the beams.
119 
120  * @param index index of value
121  * @return distances value
122  * @exception Exception thrown if index is out of bounds
123  */
124 float
125 Laser360Interface::distances(unsigned int index) const
126 {
127  if (index > 359) {
128  throw Exception("Index value %u out of bounds (0..359)", index);
129  }
130  return data->distances[index];
131 }
132 
133 /** Get maximum length of distances value.
134  * @return length of distances value, can be length of the array or number of
135  * maximum number of characters for a string
136  */
137 size_t
138 Laser360Interface::maxlenof_distances() const
139 {
140  return 360;
141 }
142 
143 /** Set distances value.
144  *
145  The distances in meter of the beams.
146 
147  * @param new_distances new distances value
148  */
149 void
150 Laser360Interface::set_distances(const float * new_distances)
151 {
152  set_field(data->distances, new_distances);
153 }
154 
155 /** Set distances value at given index.
156  *
157  The distances in meter of the beams.
158 
159  * @param new_distances new distances value
160  * @param index index for of the value
161  */
162 void
163 Laser360Interface::set_distances(unsigned int index, const float new_distances)
164 {
165  set_field(data->distances, index, new_distances);
166 }
167 /** Get clockwise_angle value.
168  *
169  True if the angle grows clockwise.
170 
171  * @return clockwise_angle value
172  */
173 bool
174 Laser360Interface::is_clockwise_angle() const
175 {
176  return data->clockwise_angle;
177 }
178 
179 /** Get maximum length of clockwise_angle value.
180  * @return length of clockwise_angle value, can be length of the array or number of
181  * maximum number of characters for a string
182  */
183 size_t
184 Laser360Interface::maxlenof_clockwise_angle() const
185 {
186  return 1;
187 }
188 
189 /** Set clockwise_angle value.
190  *
191  True if the angle grows clockwise.
192 
193  * @param new_clockwise_angle new clockwise_angle value
194  */
195 void
196 Laser360Interface::set_clockwise_angle(const bool new_clockwise_angle)
197 {
198  set_field(data->clockwise_angle, new_clockwise_angle);
199 }
200 
201 /* =========== message create =========== */
202 Message *
203 Laser360Interface::create_message(const char *type) const
204 {
205  throw UnknownTypeException("The given type '%s' does not match any known "
206  "message type for this interface type.", type);
207 }
208 
209 
210 /** Copy values from other interface.
211  * @param other other interface to copy values from
212  */
213 void
214 Laser360Interface::copy_values(const Interface *other)
215 {
216  const Laser360Interface *oi = dynamic_cast<const Laser360Interface *>(other);
217  if (oi == NULL) {
218  throw TypeMismatchException("Can only copy values from interface of same type (%s vs. %s)",
219  type(), other->type());
220  }
221  memcpy(data, oi->data, sizeof(Laser360Interface_data_t));
222 }
223 
224 const char *
225 Laser360Interface::enum_tostring(const char *enumtype, int val) const
226 {
227  throw UnknownTypeException("Unknown enum type %s", enumtype);
228 }
229 
230 /* =========== messages =========== */
231 /** Check if message is valid and can be enqueued.
232  * @param message Message to check
233  * @return true if the message is valid, false otherwise.
234  */
235 bool
236 Laser360Interface::message_valid(const Message *message) const
237 {
238  return false;
239 }
240 
241 /// @cond INTERNALS
242 EXPORT_INTERFACE(Laser360Interface)
243 /// @endcond
244 
245 
246 } // end namespace fawkes
Base class for exceptions in Fawkes.
Definition: exception.h:36
Base class for all Fawkes BlackBoard interfaces.
Definition: interface.h:80
const char * type() const
Get type of interface.
Definition: interface.cpp:652
Laser360Interface Fawkes BlackBoard Interface.
Base class for all messages passed through interfaces in Fawkes BlackBoard.
Definition: message.h:44
Fawkes library namespace.