Sonar.hpp

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/* Generated from orogen/lib/orogen/templates/tasks/Task.hpp */

#ifndef SIMULATION_SONAR_TASK_HPP
#define SIMULATION_SONAR_TASK_HPP

#include "mars/SonarBase.hpp"

namespace mars
{
    //sonar configuration should be implemented in mars
    struct SonarConfig
    {
        SonarConfig()
        {
            motor_speed = 1;
            speed_of_sound = 1500;
            distance_resolution = 0.1;
            min_distance = 1.0;
            max_distance = 50;
            beamwidth_vertical = 35.0/180*M_PI;
            beamwidth_horizontal = 6.0/180*M_PI;
            start_angle = M_PI;
            end_angle = -M_PI;

            default_response_value = 255;
            default_value = 0;

            ping_pong_mode = false;
        };

        float motor_speed;
        float speed_of_sound;
        float distance_resolution;
        float min_distance;
        float max_distance;
        float beamwidth_vertical;
        float beamwidth_horizontal;

        float start_angle;
        float end_angle;

        bool ping_pong_mode;

        unsigned char default_response_value;
        unsigned char default_value;
    };

    class Sonar : public SonarBase
    {
        friend class SonarBase;
    protected:
                base::samples::SonarBeam sonar_beam;
                unsigned long node_id;
        mars::SonarConfig *sonar_config;
        int sonar_motor_direction;
        pthread_mutex_t* sonar_update_mutex;

        void update( double time );


    public:
        Sonar(std::string const& name = "mars::Sonar");
        Sonar(std::string const& name, RTT::ExecutionEngine* engine);

        double getSonarBeamBearing(unsigned long sonar_mounting_id);
        void updateTopSonarPosition();

        bool getSonarData(base::samples::SonarBeam &sonar_beam);


        /* Dynamic Property setter of left_limit
         */
        virtual bool setLeft_limit(double value);

        /* Dynamic Property setter of maximum_distance
         */
        virtual bool setMaximum_distance(double value);

        /* Dynamic Property setter of ping_pong_mode
         */
        virtual bool setPing_pong_mode(bool value);

        /* Dynamic Property setter of resolution
         */
        virtual bool setResolution(double value);

        /* Dynamic Property setter of right_limit
         */
        virtual bool setRight_limit(double value);
        ~Sonar();

        // bool configureHook();

         bool startHook();

         void updateHook();

        // void errorHook();

        // void stopHook();

        // void cleanupHook();
    };
}

#endif