text: /*
  MobileRobots Advanced Robotics Interface for Applications (ARIA)
  Copyright (C) 2004, 2005 ActivMedia Robotics LLC
  Copyright (C) 2006, 2007, 2008, 2009 MobileRobots Inc.
  Copyright (C) 2010, 2011 Adept Technology, Inc.
  
       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; 800-639-9481
  */
  #ifndef ARSIMULATEDLASER_H
  #define ARSIMULATEDLASER_H
  
  #include "ariaTypedefs.h"
  #include "ArLaser.h"
  
  class ArRobot;
  class ArRobotPacket;
  
  /**
     This class is a subclass of ArRangeDeviceThreaded meant for any
     planar scanning lasers, like the SICK lasers, Hokoyo URG series
     lasers, etc.  Unlike most base classes this contains the superset
     of everything that may need to be configured on any of the sensors,
     this is so that the configuration and parameter files don't have to
     deal with anything sensor specific.
  
     To see the different things you can set on a laser, call the
     functions canSetDegrees, canChooseRange, canSetIncrement,
     canChooseIncrement, canChooseUnits, canChooseReflectorBits,
     canSetPowerControlled, canChooseStartBaud, and canChooseAutoBaud to
     see what is available (the help for each of those tells you what
     functions they are associated with, and for each function
     associated with one of those it tells you to see the associated
     function).
  **/
  
  class ArSimulatedLaser : public ArLaser
  {
  public:
    /// Constructor
    AREXPORT ArSimulatedLaser(ArLaser *laser);
    /// Destructor
    AREXPORT virtual ~ArSimulatedLaser();
  
    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;
      }  
  
  protected:
    AREXPORT virtual void * runThread(void *arg);
    AREXPORT virtual bool laserCheckParams(void);
    AREXPORT bool finishParams(void);
    AREXPORT bool simPacketHandler(ArRobotPacket *packet);
    ArLaser *myLaser;
  
    double mySimBegin;
    double mySimEnd;
    double mySimIncrement;
  
    // stuff for the sim packet
    ArPose mySimPacketStart;
    ArTransform mySimPacketTrans;
    ArTransform mySimPacketEncoderTrans;
    unsigned int mySimPacketCounter;
    unsigned int myWhichReading;
    unsigned int myTotalNumReadings;
  
    bool myStartConnect;
    bool myIsConnected;
    bool myTryingToConnect;
  
    std::list<ArSensorReading *>::iterator myIter;
    // range buffers to hold current range set and assembling range set
    std::list<ArSensorReading *> *myAssembleReadings;
    std::list<ArSensorReading *> *myCurrentReadings;
  
    ArRetFunctor1C<bool, ArSimulatedLaser, ArRobotPacket *> mySimPacketHandler;
  };
  
  #endif // ARSIMULATEDLASER_H
  