RawDataSensor.h

#pragma once
#include<iostream>
#include<sstream>
#include "../StarfleetToolbox/BaseCommunication.h"
#include "../StarfleetToolbox/BaseSensor.h"
#include "NetworkInformation.h"
#include "AngleRange.h"
#include "ContaminationThreshold.h"
#include "../StarfleetToolbox/ContaminationStatus.h"
#include "../StarfleetToolbox/SoftwareVersion.h"
#include "../StarfleetToolbox/BaseDataExtractor.h"
#include "RawDataError.h"
#include "SensorLeds.h"
#include "SensorLamps.h"
#include "../StarfleetToolbox/ConfigurationResult.h"
#include "../StarfleetToolbox/AvailableResolution.h"
 
using namespace std;
 
#ifdef RAWDATASENSOR_EXPORTS
#define RAWDATASENSOR __declspec(dllexport)
#else
#define RAWDATASENSOR __declspec(dllimport)
#endif
 
 
typedef int PROTOCOL;
#define TCP 1
#define UDP 0
 
// Command mode
#define READ 0
#define WRITE 1
 
typedef int SCAN_PACKET_TYPE;
#define DISTANCE 0
#define DISTANCE_INTENSITY 1
 
typedef int ANGULAR_RESOLUTION;
#define ZERO_TO_ZERO_POINT_TWO_AT_EIGHTY_HZ 0
#define ZERO_TO_ZERO_POINT_ONE_AT_FOURTY_HZ 1
#ifdef LEUZE
#define ZERO_TO_ZERO_POINT_ONE_AT_FIFTY_HZ 4
#endif
 
typedef int SCANNING_DIRECTION;
#define CLOCKWISE 0
#define COUNTER_CLOCKWISE 1
 
typedef int FILTER_STATUS;
#define FILTER_OFF 0
#define FILTER_ON 1
 
typedef int WINDOW_CALIBRATION;
#define PROCESSING 0
#define DONE 1
#define FAILED 3
 
class RAWDATASENSOR RawDataSensor : public BaseSensor, public BaseDataExtractor
{
public:
    RawDataSensor();
 
    ~RawDataSensor();
 
    RawDataSensor(BaseCommunication* comm);
    
    RawData ExtractData(vector<string>pDataToExtract);
 
    bool IsCommandAcknowledgment(string pDataToVerify);
 
    bool IsHeader(string pDataToVerify);
 
    bool IsEndOfPacket(string pDataToVerify);
 
    bool IsFirstPacket(string pDataToVerify);
 
    int GetPacketHeaderSizeToRead();
 
    int CountToReadForLength(char* pHeaderBuffer);
 
    int GetPacketLengthToRead(char* pLenHeaderBuffer, int pPacketType);
 
    CommunicationStatus Initialize();
 
    void Close();
 
    // Public exposed feature methods
    
    RawData RetrieveRawData();
 
    
    // Device utilities
 
    void ResetDevice();
 
    void RebootDevice();
 
    // Command settings management
    // Data retrieve
    NetworkInformation  GetNetworkInformation();
 
    PROTOCOL GetRawDataExchangeMode();
 
    SCAN_PACKET_TYPE GetDataPacketType();
 
    SensorResolutionFrequencyEnum GetAngularResolution();
 
    SCANNING_DIRECTION GetScanningDirection();
 
    AngleRange GetAngleRange();
 
    unsigned int GetSkipScan();
 
    unsigned int GetImmunityLevel();
 
    ContaminationThreshold GetContaminationThreshold();
 
    ContaminationStatus GetContaminationStatus();
 
    SoftwareVersion GetVersion();
 
    uint16_t GetPlatformVersion();
 
    int GetTemperature();
 
    vector<RawDataError> GetErrorLog();
 
    SensorLeds GetSensorLeds();
 
    SensorLamps GetSensorLamps();   
 
    long GetRuntimeHours();
 
    string GetDeviceName();
 
    FILTER_STATUS GetFilterStatus();
 
    WINDOW_CALIBRATION GetWindowCalibrationStatus();
 
    ConfigurationResult SetNetworkInformation(NetworkInformation pNetwork);
 
    ConfigurationResult SetRawDataExchangeMode(PROTOCOL pProtocol);
 
    ConfigurationResult SetDataPacketType(SCAN_PACKET_TYPE pPacketType);
 
    ConfigurationResult SetAngularResolution(SensorResolutionFrequencyEnum pResolution);
 
    ConfigurationResult SetScanningDirection(SCANNING_DIRECTION pScanDirection);
 
    ConfigurationResult SetAngleRange(AngleRange pAngleRange);
 
    ConfigurationResult SetSkipScan(int pSkipScan);
 
    ConfigurationResult SetImmunityLevel(int pImmunityLevel);
 
    ConfigurationResult SetContaminationThreshold(ContaminationThreshold pContaminationThreshold);
 
    ConfigurationResult SetSensorLeds(SensorLeds pLeds);
 
    ConfigurationResult SetDeviceName(string pName);
 
    ConfigurationResult SetFilterStatus(FILTER_STATUS pFilterStatus);
 
 
    ConfigurationResult StartWindowCalibration();
 
    void SendMdi();
 
    void StopMdi();
    friend class AgvSensor;
private:    
    // Variable used to set up the RetrieveRawData wait system. 
    // in case of StopMdi, the thread will remain blocked
    // This can cause unwanted behaviour when a BaseDataRecorder
    // has join the RawDataSensor class and attempts to replay recorded frames
    // So, this variable will be setup differently depending on the presence
    // or not of a BaseDataRecorder
    int _globalWaitTimeout = 0xFFFFFFFF; 
 
    string ExtractRawResult(string readWriteResponseCommand, string command, string result);
 
    bool CheckForDistIntensity(string toVerify);
 
    int _lastPacket = -1;
protected:
    string ExtractCommandResult(int MODE, string commandCode, string result);
 
    
    
    string GetImmu = { 0x47 ,0x65 ,0x74 ,0x49, 0x6D, 0x6D, 0x75 };
    string SetImmu = { 0x53, 0x65, 0x74, 0x49, 0x6D, 0x6D, 0x75 };
};