laserThread.h

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/*************************************************************************
 *   Copyright (C) Markus Knapp                                          *
 *   www.direcs.de                                                       *
 *                                                                       *
 *   This file is part of direcs.                                        *
 *                                                                       *
 *   direcs 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, version 3 of the License.          *
 *                                                                       *
 *   direcs 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 direcs. If not, see <http://www.gnu.org/licenses/>.      *
 *                                                                       *
 *************************************************************************/

#ifndef LASERTHREAD_H
#define LASERTHREAD_H

#include "laserSickS300.h"
#include "inifile.h" // for reading the sim values
#include <QThread>


class LaserThread : public QThread
{
    Q_OBJECT

    public:
        LaserThread();
        ~LaserThread();
        void stop();
        virtual void run();

        float getValue(short int laserScanner, int angle);

        int getFlag(short int laserScanner, int angle);

        void setType(short int laserScanner, QString laserType);

        void setFlag(short int laserScanner, int angle, int flag);

        void setSerialPort(short int laserScanner, QString serialPort);

        void setMounting(short int laserScanner, QString mounting);

        void setAngle(short int laserScanner, int angle);

        void setResolution(short int laserScanner, float resolution);

        int getAngle(short int laserScanner);

        float getResolution(short int laserScanner);

        bool isConnected(short int laserScanner);


    public slots:
        void setSimulationMode(bool state);

        void saveLaserData();

        void setMeasureMode(bool state);


    signals:
        void laserDataCompleteFront(QList <float> laserScannerValuesFront, QList <int> laserScannerFlagsFront);

        void laserDataCompleteRear(QList <float> laserScannerValuesRear, QList <int> laserScannerFlagsRear);

        void message(QString text);

        void sendNetworkString(QString text);

        void systemerror(int errorlevel);


    private:
        void getAndStoreLaserValuesFront(); 
        void getAndStoreLaserValuesRear();  
        bool readSimulationValues(); 
        //mutable QMutex mutex; // make this class thread-safe
        volatile bool stopped;
        unsigned char laserscannerTypeFront;
        unsigned char laserscannerTypeRear;
        bool laserScannerFrontIsConnected;
        bool laserScannerRearIsConnected;
        int numReadingsFront;
        int numReadingsRear;
        bool simulationMode;
        bool measureMode;
        QString mountingLaserscannerFront; 
        QString mountingLaserscannerRear; 
        int laserscannerAngleFront; 
        int laserscannerAngleRear; 
        float laserscannerResolutionFront; 
        float laserscannerResolutionRear;  

        SickS300 *laserS300; // the object for the S300 laserscanner
        Inifile *inifile1; //  for reading simulation values
        Inifile *inifileLaserdata; // for writing the current laser values to a file

        // Every thread sleeps some time, for having a bit more time fo the other threads!
        // Time in milliseconds
        static const unsigned long THREADSLEEPTIME = 50; // Default: 250 ms

        // FIXME: put this to the ini-file or so. Fix also: read_parameters() in laser.cpp !!
        static const unsigned char LMS = 0; // this is temporary
        static const unsigned char PLS = 1; // this is temporary
        static const unsigned char HOKUYO_URG = 2; // this is not in use, but according to laser.h, direcs_laser_laser_type_t
        static const unsigned char SIMULATED_LASER = 3; // this is not in use, but according to laser.h, direcs_laser_laser_type_t
        static const unsigned char S300 = 4; // this is temporary
        static const unsigned char NONE = 255;

        QList <float> laserScannerValuesFront; 
        QList <float> laserScannerValuesRear;  

        QList <int> laserScannerFlagsFront;  
        QList <int> laserScannerFlagsRear;   

        QList <float> simulationValuesFront;   
        QList <float> simulationValuesRear;    

//              static const unsigned char DISTANCE = 0;
//              static const unsigned char FLAG = 1;

        static const short int LASER1 = 1;
        static const short int LASER2 = 2;
        static const short int LASER3 = 4;
        static const short int LASER4 = 8;
        static const short int LASER5 = 16;

        // the tags for the laser lines
        static const int FREEWAY = 0;
        static const int OBSTACLE = 1;

        static const short int MAXERRORS = 2;
};

#endif