PingSonar.H

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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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