/usr/include/Aria/ArUrg.h is in libaria-dev 2.8.0+repack-1.2.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
If you wish to redistribute ARIA under different terms, contact
Adept MobileRobots for information about a commercial version of ARIA at
robots@mobilerobots.com or
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#ifndef ARURG_H
#define ARURG_H
#include "ariaTypedefs.h"
#include "ArLaser.h"
#include "ArDeviceConnection.h"
/** Hokuyo Urg laser range device.
* Connects using the Urg's serial port connector (not USB).
* Supports URG-04LX using SCIP 1.1 protocol only. See ArLaserConnector for instructions on
* using lasers in a program.
@sa ArUrg_2_0
@sa ArLaserConnector
@sa ArLaser
* @since 2.7.0
*/
class ArUrg : public ArLaser
{
public:
/// Constructor
AREXPORT ArUrg(int laserNumber,
const char *name = "urg");
/// Destructor
AREXPORT ~ArUrg();
AREXPORT virtual bool blockingConnect(void);
AREXPORT virtual bool asyncConnect(void);
AREXPORT virtual bool disconnect(void);
AREXPORT virtual bool isConnected(void) { return myIsConnected; }
AREXPORT virtual bool isTryingToConnect(void)
{
if (myStartConnect)
return true;
else if (myTryingToConnect)
return true;
else
return false;
}
/// Logs the information about the sensor
AREXPORT void log(void);
protected:
/// Sets the parameters that control what data you get from the urg
AREXPORT bool setParams(
double startingDegrees = -135, double endingDegrees = 135,
double incrementDegrees = 1, bool flipped = false);
/// Sets the parameters that control what data you get from the urg
AREXPORT bool setParamsBySteps(
int startingStep = 0, int endingStep = 768, int clusterCount = 3,
bool flipped = false);
AREXPORT virtual void * runThread(void *arg);
/// internal call to write a string to the urg
bool writeLine(const char *str);
/// internal call to read a string from the urg
bool readLine(char *buf, unsigned int size, unsigned int msWait);
/// internal call to write a command and get the response back into the buf
bool sendCommandAndRecvStatus(
const char *command, const char *commandDesc,
char *status, unsigned int size, unsigned int msWait);
void sensorInterp(void);
AREXPORT virtual void setRobot(ArRobot *robot);
AREXPORT virtual bool laserCheckParams(void);
AREXPORT virtual void laserSetName(const char *name);
void failedToConnect(void);
ArMutex myReadingMutex;
ArMutex myDataMutex;
ArTime myReadingRequested;
std::string myReading;
int myStartingStep;
int myEndingStep;
int myClusterCount;
bool myFlipped;
char myRequestString[1024];
double myClusterMiddleAngle;
bool internalConnect(void);
bool internalGetReading(void);
void clear(void);
bool myIsConnected;
bool myTryingToConnect;
bool myStartConnect;
std::string myVendor;
std::string myProduct;
std::string myFirmwareVersion;
std::string myProtocolVersion;
std::string mySerialNumber;
std::string myStat;
bool myLogMore;
ArFunctorC<ArUrg> mySensorInterpTask;
ArRetFunctorC<bool, ArUrg> myAriaExitCB;
};
#endif // ARURG_H
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