ArTCM2.h

/*
MobileRobots Advanced Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007 MobileRobots 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 
MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
MobileRobots Inc, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481
*/

#ifndef ARTCM2_H
#define ARTCM2_H

#include "ariaUtil.h"
#include "ArFunctor.h"
#include "ArRobot.h"


class ArTCM2
{
public:

  AREXPORT ArTCM2(ArRobot *robot);
  AREXPORT virtual ~ArTCM2();
  double getCompass(void) const { return myCompass; }
  double getPitch(void) const { return myPitch; }
  double getRoll(void) const { return myRoll; }
  double getXMagnetic(void) const { return myXMag; }
  double getYMagnetic(void) const { return myYMag; }
  double getZMagnetic(void) const { return myZMag; }
  double getTemperature(void) const { return myTemperature; }
  // Gets the error (see manual)
  int getError(void) const { return myError; }
  double getCalibrationH(void) const { return myCalibrationH; }
  double getCalibrationV(void) const { return myCalibrationV; }
  double getCalibrationM(void) const { return myCalibrationM; }
  void commandOff(void) { myRobot->comInt(ArCommands::TCM2, 0); }
  void commandJustCompass(void) { myRobot->comInt(ArCommands::TCM2, 1); }
  void commandOnePacket(void) { myRobot->comInt(ArCommands::TCM2, 2); }
  void commandContinuousPackets(void) { myRobot->comInt(ArCommands::TCM2, 3); }
  void commandUserCalibration(void) { myRobot->comInt(ArCommands::TCM2, 4); }
  void commandAutoCalibration(void) { myRobot->comInt(ArCommands::TCM2, 5); }
  void commandStopCalibration(void) { myRobot->comInt(ArCommands::TCM2, 6); }
  void commandSoftReset(void) { myRobot->comInt(ArCommands::TCM2, 7); }
  AREXPORT int getPacCount(void);
  AREXPORT bool packetHandler(ArRobotPacket *packet);
protected:  
  ArRobot *myRobot;

  double myCompass;
  double myPitch;
  double myRoll;
  double myXMag;
  double myYMag;
  double myZMag;
  double myTemperature;
  int myError;
  double myCalibrationH;
  double myCalibrationV;
  double myCalibrationM;

  // packet count
  time_t myTimeLastPacket;
  int myPacCurrentCount;
  int myPacCount;       
  ArRetFunctor1C<bool, ArTCM2, ArRobotPacket *> myPacketHandlerCB;
  
};

#endif // ARTCM2_H

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