/////////////////////////////////////////////////////////////////////////////// File: irdevice.hh// Author: Richard Vaughan// Date: 22 October 2001// Desc: Simulates HRL's Infrared Data and Ranging System//// Copyright HRL Laboratories LLC, 2001// Supported by DARPA//// ** This file is not covered by the GNU General Public License **////  CVS info://  $Source: /cvsroot/playerstage/code/stage/src/models/Attic/idardevice.hh,v $//  $Author: rtv $//  $Revision: 1.2 $/////////////////////////////////////////////////////////////////////////////#ifndef IDARDEVICE_HH#define IDARDEVICE_HH#include "playerdevice.hh"typedef struct {  int from_port, from_type, from_index;  int to_port, to_type, to_index;  int direction; // 0-7  int intensity;} idar_message_t;class CIdarDevice : public CPlayerEntity{private:   double m_max_range;  int m_num_scanlines; // number or lines raytraced per sensor  double m_angle_per_sensor; // angle subtended by 1 sensor  double m_angle_per_scanline; // angle between scanlines in a single sensor  idarrx_t recv; // record the most intense message receivedpublic:     CIdarDevice( LibraryItem *libit, CWorld *world, CEntity *parent );  //~CIdarDevice( void );  // a static named constructor - a pointer to this function is given  // to the Library object and paired with a string.  When the string  // is seen in the worldfile, this function is called to create an  // instance of this entitypublic: static CIdarDevice* Creator(  LibraryItem *libit, CWorld *world, CEntity *parent )  { return( new CIdarDevice( libit, world, parent ) ); }  // Startup routine  public: virtual bool Startup();  // each sensor must transmit over a wide area (45 degrees on the  // orginal robots), so we do several ray traces per sensor to make  // sure we hit anything in the way. the irdevice is rendered large  // enough in the matrix so that it can guarantee to be hit by at  // least one scanline in the chord. this looks like a reasonable  // solution compared to the huge cost of scanning the whole chord.  virtual void Sync( void );    // Update the device  //  virtual void Update( double sim_time );    virtual bool ReceiveMessage( CEntity* sender,			       unsigned char* mesg, int len, 			       uint8_t intensity, bool reflection );    virtual uint8_t LookupIntensity( uint8_t transmit_intensity, 				   double transmit_range, 				   bool reflection );  virtual void TransmitMessage( idartx_t* transmit );    // wipe the current message (and clear figure if rtk is used)  virtual void ClearMessage( void );  virtual void CopyMessage( idarrx_t* msg ){ memcpy( msg, &recv, sizeof(recv)); };   virtual void CopyAndClearMessage( idarrx_t* msg ){ CopyMessage(msg); ClearMessage(); };    #ifdef INCLUDE_RTK2  // Initialise the rtk gui  public: virtual void RtkStartup();  // Finalise the rtk gui  public: virtual void RtkShutdown();  // Update the rtk gui public: virtual void RtkUpdate();    // For drawing the ir message & beams  private: rtk_fig_t *data_fig;  private: rtk_fig_t *rays_fig;#endif};#endif