SICKLMS200.h

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// Copyright (C) 2002 Mathieu Lemay

#ifndef SICKLMS200_H
#define SICKLMS200_H

#include "BufferedNode.h"

namespace RobotFlow {

class LaserDevice;

class SICKLMS200 : public FD::BufferedNode
{

  public:
  SICKLMS200(std::string nodeName, FD::ParameterSet params);
   ~SICKLMS200();
   virtual void calculate(int output_id, int count, FD::Buffer &out);

  private:
   void  init();

   // Internals variables
   int m_fd;
   int m_range;
   int m_intensity;

   pthread_mutex_t   m_list_lock;
   pseudosem_t       m_semaphore;

   // Outputs variables
   int    Range_output;
   int    Intensity_output;

   LaserDevice*     m_pLaserDevice;

};

}//namespace RobotFlow
#endif

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