00001 /*!@file Devices/PingSonar.H Interface to a parallax ping sonar sensor */ 00002 00003 // //////////////////////////////////////////////////////////////////// // 00004 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2001 by the // 00005 // University of Southern California (USC) and the iLab at USC. // 00006 // See http://iLab.usc.edu for information about this project. // 00007 // //////////////////////////////////////////////////////////////////// // 00008 // Major portions of the iLab Neuromorphic Vision Toolkit are protected // 00009 // under the U.S. patent ``Computation of Intrinsic Perceptual Saliency // 00010 // in Visual Environments, and Applications'' by Christof Koch and // 00011 // Laurent Itti, California Institute of Technology, 2001 (patent // 00012 // pending; application number 09/912,225 filed July 23, 2001; see // 00013 // http://pair.uspto.gov/cgi-bin/final/home.pl for current status). // 00014 // //////////////////////////////////////////////////////////////////// // 00015 // This file is part of the iLab Neuromorphic Vision C++ Toolkit. // 00016 // // 00017 // The iLab Neuromorphic Vision C++ Toolkit is free software; you can // 00018 // redistribute it and/or modify it under the terms of the GNU General // 00019 // Public License as published by the Free Software Foundation; either // 00020 // version 2 of the License, or (at your option) any later version. // 00021 // // 00022 // The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope // 00023 // that it will be useful, but WITHOUT ANY WARRANTY; without even the // 00024 // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR // 00025 // PURPOSE. See the GNU General Public License for more details. // 00026 // // 00027 // You should have received a copy of the GNU General Public License // 00028 // along with the iLab Neuromorphic Vision C++ Toolkit; if not, write // 00029 // to the Free Software Foundation, Inc., 59 Temple Place, Suite 330, // 00030 // Boston, MA 02111-1307 USA. // 00031 // //////////////////////////////////////////////////////////////////// // 00032 // 00033 // Primary maintainer for this file: Farhan Baluch 00034 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/Devices/PingSonar.H $ 00035 // $Id: PingSonar.H 12962 2010-03-06 02:13:53Z irock $ 00036 // 00037 00038 #ifndef PingSonar_H_DEFINED 00039 #define PingSonar_H_DEFINED 00040 00041 #include "Component/ModelComponent.H" 00042 #include "Component/ModelParam.H" 00043 #include "Util/Types.H" // for byte 00044 00045 class Serial; 00046 00047 class PingSonar : public ModelComponent 00048 { 00049 public: 00050 //! Default constructor; see ModelComponent.H 00051 PingSonar(OptionManager& mgr, 00052 const std::string& descrName = "PingSonar", 00053 const std::string& tagName = "PingSonar", 00054 const char *defdev = "/dev/ttyUSB0", 00055 const int ns=3); 00056 //! Destructor 00057 ~PingSonar(); 00058 00059 std::vector<int> getDists(); 00060 void setNumSonars(int n); 00061 00062 00063 protected: 00064 nub::soft_ref<Serial> itsPort; //!< Serial port to use 00065 std::vector<int> currentDists; 00066 int numSonars; 00067 00068 00069 }; 00070 00071 #endif 00072 00073 // ###################################################################### 00074 /* So things look consistent in everyone's emacs... */ 00075 /* Local Variables: */ 00076 /* indent-tabs-mode: nil */ 00077 /* End: */
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