hokuyo.orogen

name 'hokuyo'

import_types_from "base"
import_types_from "aggregator"

using_library 'hokuyo'

task_context 'Task' do
    needs_configuration
    fd_driven

    # The URI that allows to connect to the device
    #
    # For serial devices, it is of the form
    #   serial:///dev/ttyS0:19200
    # For ethernet devices, it is of the form
    #   tcp://192.168.0.10:10940
    property 'io_port', '/std/string'

    # Deprecated. Use the io_port property instead
    property('port', '/std/string', "").
        doc 'the device port'
    # Deprecated. Use the io_port property instead
    property('rate', 'int'        , 115200).
        doc 'the baud rate (only for serial connections)'
    
    property('remission_values',  'bool', 0).
        doc 'include remission values in output if set to true and available in the device'
    property('start_step',  'int', -1).
        doc 'the step at which to start acquisition'
    property('end_step',    'int', -1).
        doc 'the step at which to end acquisition'
    property('scan_skip',   'int', 0).
        doc 'how much acquisitions to ignore between two acquisitions to report'
    property('merge_count', 'int', 1).
        doc 'how much ranges measurement to merge into one single reported measurement'

    input_port('timestamps', 'base/Time').
        doc "if connected, gives the timestamps of the scans"

    output_port('scans', 'base/samples/LaserScan').
        max_sizes('remission' => 2000, 'ranges' => 2000).
        doc "the laser scans themselves"
    output_port('timestamp_estimator_status', 'aggregator::TimestampEstimatorStatus').
	doc("Debug output of the TimestampEstimator")

    exception_states :IO_TIMEOUT, :IO_ERROR
end