[Gearbox-commit] SF.net SVN: gearbox: [210] gearbox/trunk/submitted

[<gb...@us...>]

Revision: 210
          http://gearbox.svn.sourceforge.net/gearbox/?rev=210&view=rev
Author:   gbiggs
Date:     2008-06-24 07:18:59 -0700 (Tue, 24 Jun 2008)

Log Message:
-----------
Renaming urg_nz to hokuyo_aist

Modified Paths:
--------------
    gearbox/trunk/submitted/CMakeLists.txt

Added Paths:
-----------
    gearbox/trunk/submitted/hokuyo_aist/
    gearbox/trunk/submitted/hokuyo_aist/CMakeLists.txt
    gearbox/trunk/submitted/hokuyo_aist/doc.dox
    gearbox/trunk/submitted/hokuyo_aist/test/
    gearbox/trunk/submitted/hokuyo_aist/urg_nz.cpp
    gearbox/trunk/submitted/hokuyo_aist/urg_nz.h

Removed Paths:
-------------
    gearbox/trunk/submitted/hokuyo_aist/CMakeLists.txt
    gearbox/trunk/submitted/hokuyo_aist/doc.dox
    gearbox/trunk/submitted/hokuyo_aist/test/
    gearbox/trunk/submitted/hokuyo_aist/urg_nz.cpp
    gearbox/trunk/submitted/hokuyo_aist/urg_nz.h
    gearbox/trunk/submitted/urg_nz/

Modified: gearbox/trunk/submitted/CMakeLists.txt
===================================================================
--- gearbox/trunk/submitted/CMakeLists.txt	2008-06-24 14:03:59 UTC (rev 209)
+++ gearbox/trunk/submitted/CMakeLists.txt	2008-06-24 14:18:59 UTC (rev 210)
@@ -12,6 +12,6 @@
     # E.g. ADD_SUBDIRECTORY( mydir )
     ADD_SUBDIRECTORY( flexiport )
     ADD_SUBDIRECTORY( gbxnovatelacfr )
-    ADD_SUBDIRECTORY( urg_nz )
+    ADD_SUBDIRECTORY( hokuyo_aist )
 
 ENDIF( GBX_BUILD_SUBMITTED )

Copied: gearbox/trunk/submitted/hokuyo_aist (from rev 203, gearbox/trunk/submitted/urg_nz)

Deleted: gearbox/trunk/submitted/hokuyo_aist/CMakeLists.txt
===================================================================
--- gearbox/trunk/submitted/urg_nz/CMakeLists.txt	2008-06-23 02:26:41 UTC (rev 203)
+++ gearbox/trunk/submitted/hokuyo_aist/CMakeLists.txt	2008-06-24 14:18:59 UTC (rev 210)
@@ -1,29 +0,0 @@
-SET (libName urg_nz)
-set (libDesc "Hokuyo URG laser scanner driver")
-GBX_ADD_LICENSE (GPL)
-
-SET (build TRUE)
-GBX_REQUIRE_OPTION (build LIB ${libName} ON)
-
-SET (reqLibs flexiport)
-GBX_REQUIRE_TARGETS (build LIB ${libName} ${reqLibs})
-
-IF (build)
-	INCLUDE (${GBX_CMAKE_DIR}/UseBasicRules.cmake)
-
-	SET (hdrs urg_nz.h)
-    SET (srcs urg_nz.cpp)
-
-	IF (WIN32)
-		ADD_DEFINITIONS (-DURG_NZ_EXPORTS)
-	ENDIF (WIN32)
-	GBX_ADD_LIBRARY (${libName} SHARED ${srcs})
-	TARGET_LINK_LIBRARIES (${libName} ${reqLibs})
-	GBX_ADD_PKGCONFIG (${libName} ${libDesc} ${reqLibs} "" "" "")
-
-	GBX_ADD_HEADERS (${libName} ${hdrs})
-
-	IF (GBX_BUILD_TESTS)
-		ADD_SUBDIRECTORY (test)
-	ENDIF (GBX_BUILD_TESTS)
-ENDIF( build )

Copied: gearbox/trunk/submitted/hokuyo_aist/CMakeLists.txt (from rev 209, gearbox/trunk/submitted/urg_nz/CMakeLists.txt)
===================================================================
--- gearbox/trunk/submitted/hokuyo_aist/CMakeLists.txt	                        (rev 0)
+++ gearbox/trunk/submitted/hokuyo_aist/CMakeLists.txt	2008-06-24 14:18:59 UTC (rev 210)
@@ -0,0 +1,29 @@
+SET (libName urg_nz)
+set (libDesc "Hokuyo URG laser scanner driver")
+GBX_ADD_LICENSE (GPL)
+
+SET (build TRUE)
+GBX_REQUIRE_OPTION (build LIB ${libName} ON)
+
+SET (reqLibs flexiport)
+GBX_REQUIRE_TARGETS (build LIB ${libName} ${reqLibs})
+
+IF (build)
+	INCLUDE (${GBX_CMAKE_DIR}/UseBasicRules.cmake)
+
+	SET (hdrs urg_nz.h)
+    SET (srcs urg_nz.cpp)
+
+	IF (WIN32)
+		ADD_DEFINITIONS (-DURG_NZ_EXPORTS)
+	ENDIF (WIN32)
+	GBX_ADD_LIBRARY (${libName} SHARED ${srcs})
+	TARGET_LINK_LIBRARIES (${libName} ${reqLibs})
+	GBX_ADD_PKGCONFIG (${libName} ${libDesc} ${reqLibs} "" "" "")
+
+	GBX_ADD_HEADERS (${libName} ${hdrs})
+
+	IF (GBX_BUILD_TESTS)
+		ADD_SUBDIRECTORY (test)
+	ENDIF (GBX_BUILD_TESTS)
+ENDIF( build )

Deleted: gearbox/trunk/submitted/hokuyo_aist/doc.dox
===================================================================
--- gearbox/trunk/submitted/urg_nz/doc.dox	2008-06-23 02:26:41 UTC (rev 203)
+++ gearbox/trunk/submitted/hokuyo_aist/doc.dox	2008-06-24 14:18:59 UTC (rev 210)
@@ -1,58 +0,0 @@
-/*!
-
-@ingroup gbx_libs
-@ingroup gbx_hardware
-@ingroup gbx_cpp
-@defgroup gbx_library_urg_nz liburg_nz
-@brief Hokuyo URG laser scanner driver.
-
-This library provides a driver for Hokuyo laser scanner devices using the SCIP protocol version 1 or
-2. It has been tested with the Hokuyo URG-04LX, but it should work with any scanner that conforms to
-these protocol versions. For a full list of functions and classes see @ref urg_nz.
-
-Header file:
-@verbatim
-#include <urg_nz/urg_nz.h>
-@endverbatim
-
-@par Example
-  See test/example.cpp
-
-@par Style guidelines
-
-- Naming conventions:
-  - Class methods start with a capital letter.
-  - VariableNamesLikeThis.
-  - Private member variables start with an underscore _like _this.
-  - Avoid using \#defines. \#define'd values in all capitals when necessary.
-- Formatting:
-  - 1 tab indentation at start of lines, spaces only for inside lines (e.g. before commands).
-  - Function declarations on one line.
-  - Space between function name and arguments.
-- C++ API.
-  - Functionality provided through classes.
-- Units:
-  - All internal units are in millimetres and radians.
-
-@par Copyright
-  Geoffrey Biggs
-
-@par Responsible Developer
-  Geoffrey Biggs
-
-@par License
-  LGPL
-
-@par Dependencies
-  @ref FlexiPort
-
-*/
-
-/*!
-@namespace urg_nz
-@brief URG laser scanner driver name space.
-
-This namespace is part of a library which provides a driver for the URG laser scanner driver.
-
-@see @ref gbx_library_urg_nz
-*/

Copied: gearbox/trunk/submitted/hokuyo_aist/doc.dox (from rev 209, gearbox/trunk/submitted/urg_nz/doc.dox)
===================================================================
--- gearbox/trunk/submitted/hokuyo_aist/doc.dox	                        (rev 0)
+++ gearbox/trunk/submitted/hokuyo_aist/doc.dox	2008-06-24 14:18:59 UTC (rev 210)
@@ -0,0 +1,58 @@
+/*!
+
+@ingroup gbx_libs
+@ingroup gbx_hardware
+@ingroup gbx_cpp
+@defgroup gbx_library_urg_nz liburg_nz
+@brief Hokuyo URG laser scanner driver.
+
+This library provides a driver for Hokuyo laser scanner devices using the SCIP protocol version 1 or
+2. It has been tested with the Hokuyo URG-04LX, but it should work with any scanner that conforms to
+these protocol versions. For a full list of functions and classes see @ref urg_nz.
+
+Header file:
+@verbatim
+#include <urg_nz/urg_nz.h>
+@endverbatim
+
+@par Example
+  See test/example.cpp
+
+@par Style guidelines
+
+- Naming conventions:
+  - Class methods start with a capital letter.
+  - VariableNamesLikeThis.
+  - Private member variables start with an underscore _like _this.
+  - Avoid using \#defines. \#define'd values in all capitals when necessary.
+- Formatting:
+  - 1 tab indentation at start of lines, spaces only for inside lines (e.g. before commands).
+  - Function declarations on one line.
+  - Space between function name and arguments.
+- C++ API.
+  - Functionality provided through classes.
+- Units:
+  - All internal units are in millimetres and radians.
+
+@par Copyright
+  Geoffrey Biggs
+
+@par Responsible Developer
+  Geoffrey Biggs
+
+@par License
+  LGPL
+
+@par Dependencies
+  @ref FlexiPort
+
+*/
+
+/*!
+@namespace urg_nz
+@brief URG laser scanner driver name space.
+
+This namespace is part of a library which provides a driver for the URG laser scanner driver.
+
+@see @ref gbx_library_urg_nz
+*/

Copied: gearbox/trunk/submitted/hokuyo_aist/test (from rev 209, gearbox/trunk/submitted/urg_nz/test)

Deleted: gearbox/trunk/submitted/hokuyo_aist/urg_nz.cpp
===================================================================
--- gearbox/trunk/submitted/urg_nz/urg_nz.cpp	2008-06-23 02:26:41 UTC (rev 203)
+++ gearbox/trunk/submitted/hokuyo_aist/urg_nz.cpp	2008-06-24 14:18:59 UTC (rev 210)
@@ -1,2030 +0,0 @@
-/*
- * GearBox Project: Peer-Reviewed Open-Source Libraries for Robotics
- *               http://gearbox.sf.net/
- * Copyright (c) 2008 Geoffrey Biggs
- *
- * urg_nz Hokuyo URG laser scanner driver.
- * 
- * This distribution is licensed to you under the terms described in the LICENSE file included in 
- * this distribution.
- *
- * This work is a product of the National Institute of Advanced Industrial Science and Technology,
- * Japan. Registration number: ___
- * 
- * This file is part of urg_nz.
- *
- * urg_nz is free software: you can redistribute it and/or modify it under the terms of the GNU
- * Lesser General Public License as published by the Free Software Foundation, either version 3 of 
- * the License, or (at your option) any later version.
- *
- * urg_nz 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 Lesser
- * General Public License for more details.
- *
- * You should have received a copy of the GNU Lesser General Public License along with urg_nz.  If
- * not, see <http://www.gnu.org/licenses/>.
- */
-
-#include "urg_nz.h"
-using namespace urg_nz;
-
-#include <flexiport/flexiport.h>
-#include <flexiport/port.h>
-#include <flexiport/serialport.h>
-#include <stdarg.h>
-#include <stdlib.h>
-#include <errno.h>
-#include <math.h>
-#include <sstream>
-#include <iostream>
-using namespace std;
-using namespace flexiport;
-
-#if defined (WIN32)
-	#define __func__    __FUNCTION__
-#endif
-
-namespace urg_nz
-{
-
-#ifndef M_PI
-    const double M_PI                       = 3.14159265358979323846;
-#endif
-// Convert radians to degrees
-#ifndef RTOD
-    inline double RTOD (double rad)
-    {
-    	return rad * 180.0 / M_PI; 
-    }
-#endif
-// Convert degrees to radians
-#ifndef DTOR
-    inline double DTOR (double deg)
-    {
-    	return deg * M_PI / 180.0;
-    }
-#endif
-
-// SCIP1: 66 bytes (64 bytes of data + line feed + NULL)
-const unsigned int SCIP1_LINE_LENGTH        = 66;
-// SCIP2: 67 bytes (64 bytes of data + checksum byte + line feed + NULL)
-const unsigned int SCIP2_LINE_LENGTH        = 67;
-
-////////////////////////////////////////////////////////////////////////////////////////////////////
-// SCIP protocol version 1 notes
-////////////////////////////////////////////////////////////////////////////////////////////////////
-
-/* | = byte boundary, ... indicates variable byte block (max 64 bytes), (x) = x byte block 
- - No checksum
- - Host to sensor: Command | Parameters... | LF
- - Sensor to host: Command | Parameters... | LF | Status | LF | Data... | LF | LF
- - Where a block of data would take more than 64 bytes, a line feed is inserted every 64 bytes.
- - Status 0 is OK, anything else is an error. 
-
-L  Power
-   L|Control code|LF
-   L|Control code|LF|Status|LF|LF
-   3 byte command block
-G  Get data
-   G|Start(3)|End(3)|Cluster(2)|LF
-   G|Start(3)|End(3)|Cluster(2)|LF|Status|LF|Data...|LF|LF
-   10 byte command block
-S  Set baud rate
-   S|Baud rate(6)|Reserved(7)|LF
-   S|Baud rate(6)|Reserved(7)|Status|LF|LF|
-   16 byte command block
-V  Version info
-   V|LF
-   V|LF|Status...|LF|Vendor...|LF|Product...|LF|Firmware...|LF|Protocol...|LF|Serial...|LF|LF
-   2 byte command block
-*/
-
-////////////////////////////////////////////////////////////////////////////////////////////////////
-// SCIP protocol version 2 notes
-////////////////////////////////////////////////////////////////////////////////////////////////////
-
-/* | = byte boundary, ... indicates variable byte block (max 64 bytes), (x) = x byte block
- - We don't use the string block (which can be up to 16 bytes) so it's marked as size 0 and ignored
-   in the command definitions below.
- - Host to sensor: Command(2) | Parameters... | String(0) | LF
- - Sensor to host: Command(2) | Parameters... | String(0) | LF | Status(2) | Sum | LF
- - Each data row: Data (max 64) | Sum | LF
- - Data rows are broken after a maximum of 64 bytes, each one having a checksum and a line feed.
- - Status codes 00 and 99 are OK, anything else is an error.
- - Checksum is calculated by... well, see the code.
-
-VV    Version info
-      V|V|LF
-      V|V|LF|Status(2)|Sum|LF|Vendor...|;|Sum|LF|Product...|;|Sum|LF|Firmware...|;|Sum|LF|
-          Protocol...|;|Sum|LF|Serial...|;|Sum|LF|LF
-      3 byte command block
-PP    Specification info
-      P|P|LF
-      P|P|LF|Status(2)|Sum|LF|Model...|;|Sum|LF|MaxRange...|;|Sum|LF|MinRange...|;|Sum|LF|
-          TotalSteps...|;|Sum|LF|FirstStep...|;|Sum|LF|LastStep...|;|Sum|LF|FrontStep...|;|Sum|LF|
-          MotorSpeed...|;|Sum|LF|LF
-      3 byte command block
-II    Status info
-      I|I|LF
-      I|I|LF|Status(2)|Sum|LF|Model...|;|Sum|LF|Power...|;|Sum|LF|MotorSpeed...|;|Sum|LF|
-          Mode...|;|Sum|LF|Baud...|;|Sum|LF|Time...|;|Sum|LF|Diagnostic...|;|Sum|LF|LF
-      3 byte command block
-BM    Power on
-      B|M|LF
-      B|M|LF|Status(2)|Sum|LF|LF
-      3 byte command block
-QT    Power off
-      Q|T|LF
-      Q|T|LF|Status(2)|Sum|LF|LF
-      3 byte command block
-SS    Set baud rate
-      S|S|Baud(6)|LF
-      S|S|Baud(6)|LF|Status(2)|Sum|LF|LF
-      9 byte command block
-MDMS  Get new data
-      M|D/S|Start(4)|End(4)|Cluster(2)|Interval(1)|Number(2)|LF
-      M|D/S|Start(4)|End(4)|Cluster(2)|Interval(1)|Number(2)|LF|Status(2)|Sum|LF|Data...|LF|LF
-      16 byte command block
-GDGS  Get latest data
-      G|D/S|Start(4)|End(4)|Cluster(2)|LF
-      G|D/S|Start(4)|End(4)|Cluster(2)|LF|Status(2)|Sum|LF|Data...|LF|LF
-      12 byte command block
-CR    Set motor speed
-      C|R|Speed(2)|LF
-      C|R|Speed(2)|LF|Status(2)|Sum|LF|LF
-      5 byte command block
-TM    Get sensor time
-      T|M|Code|LF
-      T|M|Code|LF|Status(2)|Sum|LF[|Time(4)|Sum|LF|LF]
-      4 byte command block
-      Optional part only comes back for control code 1.
-RS    Reset
-      R|S|LF
-      R|S|LF|Status(2)|Sum|LF|LF
-      3 byte command block
-*/
-
-////////////////////////////////////////////////////////////////////////////////////////////////////
-// Utility functions
-////////////////////////////////////////////////////////////////////////////////////////////////////
-
-string SCIP1ErrorToString (char error, char cmd)
-{
-	return string ("No error descriptions available");
-}
-
-// error must be null-terminated
-string SCIP2ErrorToString (char *error, char *cmd)
-{
-	stringstream ss;
-
-	// Check for universal errors first
-	if (error[1] == 'A')
-		return "Unable to create transmission data or reply command internally";
-	else if (error[1] == 'B')
-		return "Buffer shortage or command repeated that is already processed";
-	else if (error[1] == 'C')
-		return "Command with insufficient parameters 1";
-	else if (error[1] == 'D')
-		return "Undefined command 1";
-	else if (error[1] == 'E')
-		return "Undefined command 2";
-	else if (error[1] == 'F')
-		return "Command with insufficient parameters 2";
-	else if (error[1] == 'G')
-		return "String character in command exceeds 16 letters";
-	else if (error[1] == 'H')
-		return "String character has invalid letters";
-	else if (error[0] == '0' && error[1] == 'I')
-		return "Sensor is now in firmware update mode";
-
-	int errorCode = atoi (error);
-
-	if (cmd[0] == 'B' && cmd[1] == 'M')
-	{
-		switch (errorCode)
-		{
-			case 1:
-				return "Unable to control due to laser malfunction";
-			case 2:
-				return "Laser is already on";
-		}
-	}
-//	else if (cmd[0] == 'Q' && cmd[1] == 'T')
-//	{
-//		switch (errorCode)
-//		{
-//			default:
-//				stringstream ss;
-//				ss << "Unknown error code " << errorCode << " for command " << cmd[0] << cmd[1];
-//				return ss.str ();
-//		}
-//	}
-	else if ((cmd[0] == 'G' && cmd[1] == 'D') ||
-			 (cmd[0] == 'G' && cmd[1] == 'S'))
-	{
-		switch (errorCode)
-		{
-			case 1:
-				return "Starting step has non-numeric value";
-			case 2:
-				return "Ending step has non-numeric value";
-			case 3:
-				return "Cluster count has non-numeric value";
-			case 4:
-				return "Ending step is out of range";
-			case 5:
-				return "Ending step is smaller than start step";
-			case 6:
-				return "Scan interval is greater than 9";
-			case 7:
-				return "Number of scans is greater than 99";
-			default:
-				if (errorCode >= 50)
-					ss << "Hardware error: " << errorCode;
-				else
-					ss << "Unknown error code " << errorCode << " for command " << cmd[0] << cmd[1];
-
-				return ss.str ();
-		}
-	}
-	else if ((cmd[0] == 'M' && cmd[1] == 'D') ||
-			 (cmd[0] == 'M' && cmd[1] == 'S'))
-	{
-		switch (errorCode)
-		{
-			case 1:
-				return "Starting step has non-numeric value";
-			case 2:
-				return "Ending step has non-numeric value";
-			case 3:
-				return "Cluster count has non-numeric value";
-			case 4:
-				return "Ending step is out of range";
-			case 5:
-				return "Ending step is smaller than start step";
-			case 6:
-				return "Scan interval is greater than 9";
-			case 7:
-				return "Number of scans is greater than 99";
-			default:
-				if (errorCode >= 50)
-					ss << "Hardware error: " << errorCode;
-				else
-					ss << "Unknown error code " << errorCode << " for command " << cmd[0] << cmd[1];
-
-				return ss.str ();
-		}
-	}
-	else if (cmd[0] == 'T' && cmd[1] == 'M')
-	{
-		switch (errorCode)
-		{
-			case 1:
-				return "Invalid control code";
-			case 2:
-				return "Adjust mode on command received when sensor's adjust mode is already on";
-			case 3:
-				return "Adjust mode off command received when sensor's adjust mode is already off";
-			case 4:
-				return "Adjust mode is off when requested time";
-		}
-	}
-	else if (cmd[0] == 'S' && cmd[1] == 'S')
-	{
-		switch (errorCode)
-		{
-			case 1:
-				return "Baud rate has non-numeric value";
-			case 2:
-				return "Invalid baud rate";
-			case 3:
-				return "Sensor is already running at that baud rate";
-		}
-	}
-	else if (cmd[0] == 'C' && cmd[1] == 'R')
-	{
-		switch (errorCode)
-		{
-			case 1:
-				return "Invalid speed";
-			case 2:
-				return "Speed is out of range";
-			case 3:
-				return "Motor is already running at that speed";
-		}
-	}
-//	else if (cmd[0] == 'R' && cmd[1] == 'S')
-//	{
-//		switch (errorCode)
-//		{
-//			case :
-//				return "";
-//			default:
-//				stringstream ss;
-//				ss << "Unknown error code " << errorCode << " for command " << cmd[0] << cmd[1];
-//				return ss.str ();
-//		}
-//	}
-//	else if (cmd[0] == 'V' && cmd[1] == 'V')
-//	{
-//		switch (errorCode)
-//		{
-//			case :
-//				return "";
-//		}
-//	}
-//	else if (cmd[0] == 'P' && cmd[1] == 'P')
-//	{
-//		switch (errorCode)
-//		{
-//			case :
-//				return "";
-//		}
-//	}
-//	else if (cmd[0] == 'I' && cmd[1] == 'I')
-//	{
-//		switch (errorCode)
-//		{
-//			case :
-//				return "";
-//		}
-//	}
-	else
-	{
-		ss << "Unknown command: " << cmd[0] << cmd[1];
-		return ss.str ();
-	}
-
-	// Known commands with unknown error codes fall through to here
-	ss << "Unknown error code " << errorCode << " for command " << cmd[0] << cmd[1];
-	return ss.str ();
-}
-
-unsigned int Decode2ByteValue (char *data)
-{
-	unsigned int byte1, byte2;
-	
-	byte1 = data[0] - 0x30;
-	byte2 = data[1] - 0x30;
-
-	return (byte1 << 6) + (byte2);
-}
-
-unsigned int Decode3ByteValue (char *data)
-{
-	unsigned int byte1, byte2, byte3;
-	
-	byte1 = data[0] - 0x30;
-	byte2 = data[1] - 0x30;
-	byte3 = data[2] - 0x30;
-
-	return (byte1 << 12) + (byte2 << 6) + (byte3);
-}
-
-unsigned int Decode4ByteValue (char *data)
-{
-	unsigned int byte1, byte2, byte3, byte4;
-	
-	byte1 = data[0] - 0x30;
-	byte2 = data[1] - 0x30;
-	byte3 = data[2] - 0x30;
-	byte4 = data[3] - 0x30;
-
-	return (byte1 << 18) + (byte2 << 12) + (byte3 << 6) + (byte4);
-}
-
-void NumberToString (unsigned int num, char *dest, int length)
-{
-#if defined (WIN32)
-	_snprintf (dest, length + 1, "%*d", length, num);
-#else
-	snprintf (dest, length + 1, "%*d", length, num);
-#endif
-	// Replace all leading spaces with '0'
-	for (int ii = 0; ii < length && dest[ii] == ' '; ii++)
-		dest[ii] = '0';
-}
-
-////////////////////////////////////////////////////////////////////////////////////////////////////
-// URGError class
-////////////////////////////////////////////////////////////////////////////////////////////////////
-
-string URGError::AsString (void) const throw ()
-{
-	switch (_errorCode)
-	{
-		case URG_ERR_READ:
-			return "URG_ERR_READ";
-		case URG_ERR_WRITE:
-			return "URG_ERR_WRITE";
-		case URG_ERR_PROTOCOL:
-			return "URG_ERR_PROTOCOL";
-		case URG_ERR_CHANGEBAUD:
-			return "URG_ERR_CHANGEBAUD";
-		case URG_ERR_CONNECT_FAILED:
-			return "URG_ERR_CONNECT_FAILED";
-		case URG_ERR_CLOSE_FAILED:
-			return "URG_ERR_CLOSE_FAILED";
-		case URG_ERR_NODESTINATION:
-			return "URG_ERR_NODESTINATION";
-		case URG_ERR_BADFIRMWARE:
-			return "URG_ERR_BADFIRMWARE";
-		case URG_ERR_SCIPVERSION:
-			return "URG_ERR_SCIPVERSION";
-		case URG_ERR_MEMORY:
-			return "URG_ERR_MEMORY";
-		case URG_ERR_UNSUPPORTED:
-			return "URG_ERR_UNSUPPORTED";
-		case URG_ERR_BADARG:
-			return "URG_ERR_BADARG";
-		case URG_ERR_NODATA:
-			return "URG_ERR_NODATA";
-		case URG_ERR_NOTSERIAL:
-			return "URG_ERR_NOTSERIAL";
-	}
-	return "UNKNOWN_ERROR";
-}
-
-////////////////////////////////////////////////////////////////////////////////////////////////////
-// URGSensorInfo class
-////////////////////////////////////////////////////////////////////////////////////////////////////
-
-URGSensorInfo::URGSensorInfo (void)
-	: minRange (0), maxRange (0), steps (0), firstStep (0), lastStep (0), frontStep (0),
-	standardSpeed (0), power (false), speed (0), baud (0), time (0), minAngle (0.0), maxAngle (0.0),
-	resolution (0.0), scanableSteps (0)
-{
-}
-
-URGSensorInfo::URGSensorInfo (const URGSensorInfo &rhs)
-{
-	vendor = rhs.vendor;
-	product = rhs.product;
-	firmware = rhs.firmware;
-	protocol = rhs.protocol;
-	serial = rhs.serial;
-
-	model = rhs.model;
-	minRange = rhs.minRange;
-	maxRange = rhs.maxRange;
-	steps = rhs.steps;
-	firstStep = rhs.firstStep;
-	lastStep = rhs.lastStep;
-	frontStep = rhs.frontStep;
-	standardSpeed = rhs.standardSpeed;
-
-	power = rhs.power;
-	speed = rhs.speed;
-	measureState = rhs.measureState;
-	baud = rhs.baud;
-	time = rhs.time;
-	sensorDiagnostic = rhs.sensorDiagnostic;
-
-	minAngle = rhs.minAngle;
-	maxAngle = rhs.maxAngle;
-	resolution = rhs.resolution;
-	scanableSteps = rhs.scanableSteps;
-}
-
-// Set various known values based on what the manual says
-void URGSensorInfo::SetDefaults (void)
-{
-	minRange = 20;
-	maxRange = 4095;
-	steps = 1024;
-	firstStep = 44;
-	lastStep = 725;
-	frontStep = 384;
-}
-
-void URGSensorInfo::CalculateValues (void)
-{
-	resolution = DTOR (360.0) / steps;
-	// If any of the steps are beyond INT_MAX, we have problems.
-	// We also have an incredibly high-resolution sensor.
-	minAngle = (static_cast<int> (firstStep) - static_cast<int> (frontStep)) * resolution;
-	maxAngle = (static_cast<int> (lastStep) - static_cast<int> (frontStep)) * resolution;
-	scanableSteps = lastStep - firstStep;
-}
-
-URGSensorInfo& URGSensorInfo::operator= (const URGSensorInfo &rhs)
-{
-	if (this == &rhs)
-		return *this;
-
-	vendor = rhs.vendor;
-	product = rhs.product;
-	firmware = rhs.firmware;
-	protocol = rhs.protocol;
-	serial = rhs.serial;
-
-	model = rhs.model;
-	minRange = rhs.minRange;
-	maxRange = rhs.maxRange;
-	steps = rhs.steps;
-	firstStep = rhs.firstStep;
-	lastStep = rhs.lastStep;
-	frontStep = rhs.frontStep;
-	standardSpeed = rhs.standardSpeed;
-
-	power = rhs.power;
-	speed = rhs.speed;
-	measureState = rhs.measureState;
-	baud = rhs.baud;
-	time = rhs.time;
-	sensorDiagnostic = rhs.sensorDiagnostic;
-
-	minAngle = rhs.minAngle;
-	maxAngle = rhs.maxAngle;
-	resolution = rhs.resolution;
-	scanableSteps = rhs.scanableSteps;
-
-	return *this;
-}
-
-string URGSensorInfo::AsString (void)
-{
-	stringstream ss;
-
-	ss << "Vendor: " << vendor << endl;
-	ss << "Product: " << product << endl;
-	ss << "Firmware: " << firmware << endl;
-	ss << "Protocol: " << protocol << endl;
-	ss << "Serial: " << serial << endl;
-	ss << "Model: " << model << endl;
-
-	ss << "Mininum range: " << minRange << "mm\tMaximum range: " << maxRange << "mm" << endl;
-	ss << "Steps in 360 degrees: " << steps << "\tScanable steps: " << scanableSteps << endl;
-	ss << "First step: " << firstStep << "\tFront step: " << frontStep << "\tLast step: " <<
-		lastStep << endl;
-	ss << "Resolution: " << resolution << " radians/step" << endl;
-	ss << "Minimum angle: " << minAngle << " radians\tMaximum angle: " << maxAngle <<
-		" radians" << endl;
-	ss << "Standard motor speed: " << standardSpeed << "rpm" << endl;
-
-	ss << "Power status: " << (power ? "On" : "Off") << "\tMeasurement state: " <<
-			measureState << endl;
-	ss << "Motor speed: " << speed << "rpm\tBaud rate: " << baud << "bps" << endl;
-	ss << "Time stamp: " << time << "ms" << endl;
-	ss << "Sensor diagnostic: " << sensorDiagnostic << endl;
-
-	return ss.str ();
-}
-
-////////////////////////////////////////////////////////////////////////////////////////////////////
-// URGData class
-////////////////////////////////////////////////////////////////////////////////////////////////////
-
-URGData::URGData (void)
-	: _data (NULL), _length (0), _error (-1), _time (0)
-{
-}
-
-URGData::URGData (unsigned short *data, unsigned int length, short error, unsigned int time)
-	: _error (error), _time (time)
-{
-	_length = length;
-	if (_length == 0)
-		_data = NULL;
-	else
-	{
-		if ((_data = new unsigned short[_length]) == NULL)
-		{
-			_length = 0;
-			throw URGError (URG_ERR_MEMORY, "Failed to allocate space to copy data.");
-		}
-		memcpy (_data, data, sizeof (unsigned short) * _length);
-	}
-}
-
-URGData::URGData (const URGData &rhs)
-{
-	_length = rhs.Length ();
-	if (_length == 0)
-		_data = NULL;
-	else
-	{
-		if ((_data = new unsigned short[_length]) == NULL)
-		{
-			_length = 0;
-			throw URGError (URG_ERR_MEMORY, "Failed to allocate space to copy data.");
-		}
-		memcpy (_data, rhs.Ranges (), sizeof (unsigned short) * _length);
-	}
-	_error = rhs.GetErrorCode ();
-	_time = rhs.TimeStamp ();
-}
-
-URGData::~URGData (void)
-{
-	if (_data != NULL)
-		delete[] _data;
-}
-
-string URGData::ErrorCodeToString (void)
-{
-	switch (_error)
-	{
-		case -1:
-			return "No error.";
-		case 0:
-			return "Possibility of detected object is at 22m.";
-		case 1:
-			return "Reflected light has low intensity.";
-		case 2:
-			return "Reflected light has low intensity.";
-		case 3:
-			return "Reflected light has low intensity.";
-		case 4:
-			return "Reflected light has low intensity.";
-		case 5:
-			return "Reflected light has low intensity.";
-		case 6:
-			return "Possibility of detected object is at 5.7m.";
-		case 7:
-			return "Distance data on the preceding and succeeding steps have errors.";
-		case 8:
-			return "Others.";
-		case 9:
-			return "The same step had error in the last two scan.";
-		case 10:
-			return "Others.";
-		case 11:
-			return "Others.";
-		case 12:
-			return "Others.";
-		case 13:
-			return "Others.";
-		case 14:
-			return "Others.";
-		case 15:
-			return "Others.";
-		case 16:
-			return "Possibility of detected object is in the range 4096mm.";
-		case 17:
-			return "Others.";
-		case 18:
-			return "Unspecified.";
-		case 19:
-			return "Non-measurable distance.";
-		default:
-			stringstream ss;
-			ss << "Unknown error code: " << _error;
-			return ss.str ();
-	}
-}
-
-URGData& URGData::operator= (const URGData &rhs)
-{
-	if (rhs.Length () == 0)
-	{
-		_length = 0;
-		if (_data != NULL)
-			delete[] _data;
-		_data = NULL;
-		_error = rhs.GetErrorCode ();
-		_time = rhs.TimeStamp ();
-	}
-	else
-	{
-		unsigned int rhsLength = rhs.Length ();
-		unsigned short *newData;
-		if (rhsLength != _length)
-		{
-			// Copy the data into a temporary variable pointing to new space (prevents dangling
-			// pointers on allocation error and prevents self-assignment making a mess).
-			if ((newData = new unsigned short[rhsLength]) == NULL)
-				throw URGError (URG_ERR_MEMORY, "Failed to allocate space to copy data.");
-			memcpy (newData, rhs.Ranges (), sizeof (unsigned short) * rhsLength);
-			if (_data != NULL)
-				delete[] _data;
-			_data = newData;
-			_length = rhs.Length ();
-		}
-		else
-		{
-			// If lengths are the same, no need to reallocate
-			memcpy (_data, rhs.Ranges (), sizeof (unsigned short) * _length);
-		}
-
-		_error = rhs.GetErrorCode ();
-		_time = rhs.TimeStamp ();
-	}
-
-	return *this;
-}
-
-unsigned short URGData::operator[] (unsigned int index)
-{
-	if (index >= _length)
-		throw URGError (URG_ERR_BADARG, "Invalid data index.");
-	return _data[index];
-}
-
-string URGData::AsString (void)
-{
-	stringstream ss;
-
-	ss << _length << " readings:" << endl;
-	for (unsigned int ii = 0; ii < _length; ii++)
-		ss << _data[ii] << "\t";
-	ss << endl << "Data error: (" << _error << ") " << ErrorCodeToString () << endl;
-	ss << "Time stamp: " << _time << endl;
-
-	return ss.str ();
-}
-
-void URGData::CleanUp (void)
-{
-	if (_data != NULL)
-		delete[] _data;
-	_data = NULL;
-	_length = 0;
-	_error = 0;
-	_time = 0;
-}
-
-void URGData::AllocateData (unsigned int length)
-{
-	// If no data yet, allocate new
-	if (_data == NULL)
-	{
-		if ((_data = new unsigned short[length]) == NULL)
-		{
-			_length = 0;
-			throw URGError (URG_ERR_MEMORY, "Failed to allocate space to copy data.");
-		}
-		_length = length;
-	}
-	// If there is data, reallocate only if the length is different
-	else if (length != _length)
-	{
-		delete[] _data;
-		if ((_data = new unsigned short[length]) == NULL)
-		{
-			_length = 0;
-			throw URGError (URG_ERR_MEMORY, "Failed to allocate space to copy data.");
-		}
-		_length = length;
-	}
-	// Else data is already allocated to the right length, so do nothing
-}
-
-////////////////////////////////////////////////////////////////////////////////////////////////////
-// URGLaser class
-////////////////////////////////////////////////////////////////////////////////////////////////////
-
-// Public API
-////////////////////////////////////////////////////////////////////////////////////////////////////
-
-URGLaser::URGLaser (void)
-	: _port (NULL), _scipVersion (1), _verbose (false), _minAngle (0.0), _maxAngle (0.0),
-	_resolution (0.0), _firstStep (0), _lastStep (0), _frontStep (0)
-{
-}
-
-URGLaser::~URGLaser (void)
-{
-	if (_port != NULL)
-		delete _port;
-}
-
-void URGLaser::Open (string portOptions)
-{
-	if (_verbose)
-	{
-		cerr << "URGLaser::" << __func__ << "() Creating and opening port using options: " <<
-			portOptions << endl;
-	}
-	_port = flexiport::CreatePort (portOptions);
-	_port->Open ();
-
-//	if (_port->GetPortType () == "serial")
-//	{
-//		if (_verbose)
-//		{
-//			cerr << "URGLaser::" << __func__ << "() Connected using serial connection." << endl;
-//			cerr << _port->GetStatus ();
-//		}
-//		// Need to work our way down the baud rates until we get the one that the scanner is
-//		// actually using. Start with the one the port is set to (hopefully the user set
-//		// the port's baud option to the same as the scanner).
-//		if (_verbose)
-//		{
-//			cerr << "URGLaser::" << __func__ << "() Trying to connect at " <<
-//				reinterpret_cast<SerialPort*> (_port)->GetBaudRate () << "bps." << endl;
-//		}
-//		if (SetBaud (reinterpret_cast<SerialPort*> (_port)->GetBaudRate ()))
-//		{
-//			if (_verbose)
-//			{
-//				cerr << "URGLaser::" << __func__ << "() Successfully connected at " <<
-//					reinterpret_cast<SerialPort*> (_port)->GetBaudRate () << "bps." << endl;
-//			}
-//		}
-//		else
-//		{
-//			unsigned int bauds[] = {19200, 57600, 115200, 250000, 500000, 750000};
-//			int ii;
-//			for (ii = 0; ii < 6; ii++)
-//			{
-//				if (SetBaud (bauds[ii]))
-//				{
-//					if (_verbose)
-//					{
-//						cerr << "URGLaser::" << __func__ << "() Successfully connected at " <<
-//							bauds[ii] << "bps." << endl;
-//					}
-//					break;
-//				}
-//			}
-//			if (ii == 6)
-//			{
-//				// Did not connect at any speed
-//				throw URGError (URG_ERR_CONNECT_FAILED, "Failed to connect at any baud.");
-//			}
-//		}
-//	}
-//	else if (_verbose)
-//	{
-//		cerr << "URGLaser::" << __func__ << "() Connected using " << _port->GetPortType () <<
-//			" connection." << endl;
-//		cerr << _port->GetStatus ();
-//	}
-	if (_verbose)
-	{
-		cerr << "URGLaser::" << __func__ << "() Connected using " << _port->GetPortType () <<
-			" connection." << endl;
-		cerr << _port->GetStatus ();
-	}
-	_port->Flush ();
-
-	// Figure out the SCIP version currently in use and switch to a higher one if possible
-	GetAndSetSCIPVersion ();
-	// Get some values we need for providing default ranges
-	GetDefaults ();
-}
-
-void URGLaser::Close (void)
-{
-	if (!_port)
-		throw URGError (URG_ERR_CLOSE_FAILED, "Port is not open.");
-	if (_verbose)
-		cerr << "URGLaser::" << __func__ << "() Closing connection." << endl;
-	delete _port;
-	_port = NULL;
-}
-
-bool URGLaser::IsOpen (void) const
-{
-	if (_port != NULL)
-		return _port->IsOpen ();
-	return false;
-}
-
-void URGLaser::SetPower (bool on)
-{
-	if (_scipVersion == 1)
-	{
-		if (on)
-		{
-			if (_verbose)
-				cerr << "URGLaser::" << __func__ << "() Turning laser on." << endl;
-			SendCommand ("L", "1", 1, NULL);
-		}
-		else
-		{
-			if (_verbose)
-				cerr << "URGLaser::" << __func__ << "() Turning laser off." << endl;
-			SendCommand ("L", "0", 1, NULL);
-		}
-		SkipLines (1);
-	}
-	else if (_scipVersion == 2)
-	{
-		if (on)
-		{
-			if (_verbose)
-				cerr << "URGLaser::" << __func__ << "() Turning laser on." << endl;
-			SendCommand ("BM", NULL, 0, "02");
-		}
-		else
-		{
-			if (_verbose)
-				cerr << "URGLaser::" << __func__ << "() Turning laser off." << endl;
-			SendCommand ("QT", NULL, 0, "02");
-		}
-		SkipLines (1);
-	}
-	else
-		throw URGError (URG_ERR_SCIPVERSION, "Unknown SCIP version.");
-}
-
-// This function assumes that both the port and the laser scanner are already set to the same baud.
-void URGLaser::SetBaud (unsigned int baud)
-{
-	if (_port->GetPortType () != "serial")
-		throw URGError (URG_ERR_NOTSERIAL, "Cannot change baud rate of non-serial connection.");
-
-	char newBaud[13];
-	memset (newBaud, 0, sizeof (char) * 13);
-
-	if (baud != 19200 && baud != 57600 && baud != 115200 &&
-			baud != 250000 && baud != 500000 && baud != 750000)
-	{
-		stringstream ss;
-		ss << "Bad baud rate: " << baud << endl;
-		throw URGError (URG_ERR_BADARG, ss.str ());
-	}
-	NumberToString (baud, newBaud, 6);
-
-	if (_scipVersion == 1)
-	{
-		// Send the command to change baud rate
-		SendCommand ("S", newBaud, 13, NULL);
-		SkipLines (1);
-		// Change the port's baud rate
-		reinterpret_cast<SerialPort*> (_port)->SetBaudRate (baud);
-	}
-	else if (_scipVersion == 2)
-	{
-		// Send the command to change baud rate
-		SendCommand ("SS", newBaud, 6, "03");
-		SkipLines (1);
-		// Change the port's baud rate
-		reinterpret_cast<SerialPort*> (_port)->SetBaudRate (baud);
-	}
-	else
-		throw URGError (URG_ERR_SCIPVERSION, "Unknown SCIP version.");
-}
-
-void URGLaser::Reset (void)
-{
-	if (_scipVersion == 1)
-		throw URGError (URG_ERR_UNSUPPORTED, "SCIP version 1 does not support the reset command.");
-	else if (_scipVersion == 2)
-	{
-		if (_verbose)
-			cerr << "URGLaser::" << __func__ << "() Resetting laser." << endl;
-		SendCommand ("RS", NULL, 0, NULL);
-		SkipLines (1);
-	}
-	else
-		throw URGError (URG_ERR_SCIPVERSION, "Unknown SCIP version.");
-}
-
-void URGLaser::SetMotorSpeed (unsigned int speed)
-{
-	if (_scipVersion == 1)
-	{
-		throw URGError (URG_ERR_UNSUPPORTED,
-				"SCIP version 1 does not support the set motor speed command.");
-	}
-	else if (_scipVersion == 2)
-	{
-		// Sanity check the value
-		if ((speed > 600 || speed < 540 || (speed % 6) != 0) && speed != 0)
-			throw URGError (URG_ERR_BADARG, "Invalid motor speed.");
-		char buffer[3];
-		buffer[2] = '\0';
-		if (speed == 0)
-		{
-			if (_verbose)
-				cerr << "URGLaser::" << __func__ << "() Reseting motor speed to default." << endl;
-			buffer[0] = '9';
-			buffer[1] = '9';
-		}
-		else
-		{
-			if (_verbose)
-			{
-				cerr << "URGLaser::" << __func__ << "() Setting motor speed to " <<
-					speed << "rpm." << endl;
-			}
-			if (speed == 540)
-			{
-				buffer[0] = '1';
-				buffer[1] = '0';
-			}
-			else
-			{
-				buffer[0] = '0';
-				buffer[1] = 100 - (speed / 6) + 0x30;
-			}
-		}
-		SendCommand ("CR", buffer, 2, "03"); 
-		SkipLines (1);
-	}
-	else
-		throw URGError (URG_ERR_SCIPVERSION, "Unknown SCIP version.");
-}
-
-void URGLaser::GetSensorInfo (URGSensorInfo *info)
-{
-	if (info == NULL)
-		throw URGError (URG_ERR_NODESTINATION, "No info object provided.");
-
-	if (_scipVersion == 1)
-	{
-		if (_verbose)
-		{
-			cerr << "URGLaser::" << __func__ <<
-				"() Getting sensor information using SCIP version 1." << endl;
-		}
-
-		info->SetDefaults ();
-
-		char buffer[SCIP1_LINE_LENGTH];
-		memset (buffer, 0, sizeof (char) * SCIP1_LINE_LENGTH);
-
-		SendCommand ("V", NULL, 0, NULL);
-		// Get the vendor info line
-		ReadLine (buffer);
-		info->vendor = &buffer[5]; // Chop off the "VEND:" tag
-		// Get the product info line
-		ReadLine (buffer);
-		info->product = &buffer[5];
-		// Get the firmware line
-		ReadLine (buffer);
-		info->firmware = &buffer[5];
-		// Get the protocol version line
-		ReadLine (buffer);
-		info->protocol = &buffer[5];
-		// Get the serial number
-		ReadLine (buffer);
-		info->serial = &buffer[5];
-		// Get either the status line or the end of message
-		ReadLine (buffer);
-		if (buffer[0] != '\n')
-		{
-			// Got a status line
-			info->sensorDiagnostic = &buffer[5];
-			SkipLines (1);
-		}
-
-		// Check the firmware version major number. If it's >=3 there is probably some extra info
-		// in the firmware line.
-		// e.g.: FIRM:3.1.04,07/08/02(20-4095[mm],240[deg],44-725[step],600[rpm])
-		// Note that this example is right up against the maximum SCIP v1 line length of 64 bytes.
-		if (atoi (info->firmware.c_str ()) >= 3)
-		{
-			if (_verbose)
-				cerr << "SCIP1 Firmware line for parsing: " << info->firmware << endl;
-			// Now the fun part: parsing the line. It would be nice if we could use the POSIX regex
-			// functions, but since MS doesn't believe in POSIX we get to do it the hard way.
-			// Start by finding the first (
-			char *valueStart;
-			if ((valueStart = strchr (info->firmware.c_str (), '(')) == NULL)
-			{
-				// No bracket? Crud. Fail and use the hard-coded values from the manual.
-				info->CalculateValues ();
-			}
-			// Now put it through sscanf and hope...
-			int aperture;
-			int numFound = sscanf (valueStart, "%d-%d[mm],%d[deg],%d-%d[step],%d[rpm]", 
-									&info->minRange, &info->maxRange, &aperture,
-									&info->firstStep, &info->lastStep, &info->speed);
-			if (numFound != 6)
-			{
-				// Didn't get enough values out, assume unknown format and fall back on the defaults
-				info->SetDefaults ();
-				info->CalculateValues ();
-				if (_verbose)
-				{
-					cerr << "Retrieved sensor info (hard-coded):" << endl;
-					cerr << info->AsString ();
-				}
-			}
-
-			// Need to calculate stuff differently since it gave us an aperture value
-			info->resolution = static_cast<double> (aperture) / 
-									static_cast<double> (info->lastStep - info->firstStep);
-			// Assume that the range is evenly spread
-			info->scanableSteps = info->lastStep - info->firstStep;
-			info->frontStep = info->scanableSteps / 2;
-			info->minAngle = (info->firstStep - info->frontStep) * info->resolution;
-			info->maxAngle = (info->lastStep - info->frontStep) * info->resolution;
-		}
-		else
-		{
-			// We're stuck with hard-coded defaults from the manual (already set earlier).
-			info->CalculateValues ();
-			if (_verbose)
-			{
-				cerr << "Retrieved sensor info (hard-coded):" << endl;
-				cerr << info->AsString ();
-			}
-		}
-	}
-	else if (_scipVersion == 2)
-	{
-		if (_verbose)
-		{
-			cerr << "URGLaser::" << __func__ <<
-				"() Getting sensor information using SCIP version 2." << endl;
-		}
-
-		char buffer[SCIP2_LINE_LENGTH];
-		memset (buffer, 0, sizeof (char) * SCIP2_LINE_LENGTH);
-		
-		// We need to send three commands to get all the info we want: VV, PP and II
-		SendCommand ("VV", NULL, 0, NULL);
-		// Get the vendor info line
-		ReadLineWithCheck (buffer, -1, true);
-		info->vendor = &buffer[5]; // Chop off the "VEND:" tag
-		// Get the product info line
-		ReadLineWithCheck (buffer, -1, true);
-		info->product = &buffer[5];
-		// Get the firmware line
-		ReadLineWithCheck (buffer, -1, true);
-		info->firmware = &buffer[5];
-		// Get the protocol version line
-		ReadLineWithCheck (buffer, -1, true);
-		info->protocol = &buffer[5];
-		// Get the serial number
-		ReadLineWithCheck (buffer, -1, true);
-		info->serial = &buffer[5];
-		// Skip the end-of-message
-		SkipLines (1);
-
-		// Next up, PP
-		SendCommand ("PP", NULL, 0, NULL);
-		// Get the model line
-		ReadLineWithCheck (buffer, -1, true);
-		info->model = &buffer[5];
-		// On to the fun ones that require parsing
-		ReadLineWithCheck (buffer, -1, true);
-		info->minRange = atoi (&buffer[5]);		
-		ReadLineWithCheck (buffer, -1, true);
-		info->maxRange = atoi (&buffer[5]);		
-		ReadLineWithCheck (buffer, -1, true);
-		info->steps = atoi (&buffer[5]);		
-		ReadLineWithCheck (buffer, -1, true);
-		info->firstStep = atoi (&buffer[5]);		
-		ReadLineWithCheck (buffer, -1, true);
-		info->lastStep = atoi (&buffer[5]);		
-		ReadLineWithCheck (buffer, -1, true);
-		info->frontStep = atoi (&buffer[5]);		
-		ReadLineWithCheck (buffer, -1, true);
-		info->standardSpeed = atoi (&buffer[5]);
-		// Skip the end-of-message
-		SkipLines (1);
-
-		// Command II: Revenge of the Commands.
-		SendCommand ("II", NULL, 0, NULL);
-		// Skip the model line (we already have it from PP)
-		SkipLines (1);
-		// Get and parse the power state
-		ReadLineWithCheck (buffer, -1, true);
-		if (strncmp (&buffer[5], "OFF", 3) == 0)
-			info->power = false;
-		else
-			info->power = true;
-		// Motor speed
-		ReadLineWithCheck (buffer, -1, true);
-		// TODO: check if the format of this line changes if the motor speed is changed
-		if (sscanf (buffer, "SCSP:%*7s(%d[rpm]", &info->speed) != 1)
-			throw URGError (URG_ERR_PROTOCOL, "Motor speed line parse failed.");
-		// Measuring state
-		ReadLineWithCheck (buffer, -1, true);
-		info->measureState = &buffer[5];
-		// Baud rate
-		ReadLineWithCheck (buffer, -1, true);
-		if (sscanf (buffer, "SBPS:%d[bps]", &info->baud) != 1)
-			throw URGError (URG_ERR_PROTOCOL, "Baud rate line parse failed.");
-		// Time stamp
-		ReadLineWithCheck (buffer, -1, true);
-		if (sscanf (buffer, "TIME:%x", &info->time) != 1)
-			throw URGError (URG_ERR_PROTOCOL, "Timestamp line parse failed.");
-		// Diagnostic
-		ReadLineWithCheck (buffer, -1, true);
-		info->sensorDiagnostic = &buffer[5];
-		// Skip the end-of-message
-		SkipLines (1);
-
-		info->CalculateValues ();
-		if (_verbose)
-		{
-			cerr << "Retrieved sensor info:" << endl;
-			cerr << info->AsString ();
-		}
-	}
-	else
-		throw URGError (URG_ERR_SCIPVERSION, "Unknown SCIP version.");
-}
-
-unsigned int URGLaser::GetTime (void)
-{
-	if (_scipVersion == 1)
-	{
-		throw URGError (URG_ERR_UNSUPPORTED,
-				"SCIP version 1 does not support the get time command.");
-	}
-	else if (_scipVersion == 2)
-	{
-		if (_verbose)
-			cerr << "URGLaser::" << __func__ << "() Retrieving time from laser." << endl;
-		SendCommand ("TM", "0", 1, NULL);
-		SendCommand ("TM", "1", 1, NULL);
-		char buffer[7];
-		ReadLineWithCheck (buffer, 6);
-		SendCommand ("TM", "2", 1, NULL);
-		SkipLines (1);
-		// We need to decode the time value that's in the buffer
-		return Decode4ByteValue (buffer);
-	}
-	else
-		throw URGError (URG_ERR_SCIPVERSION, "Unknown SCIP version.");
-
-	return 0;
-}
-
-unsigned int URGLaser::GetRanges (URGData *data, int startStep, int endStep,
-		 							unsigned int clusterCount)
-{
-	if (data == NULL)
-		throw URGError (URG_ERR_NODESTINATION, "No data destination provided.");
-
-	char buffer[11];
-	memset (buffer, 0, sizeof (char) * 11);
-
-	if (startStep < 0)
-		startStep = _firstStep;
-	if (endStep < 0)
-		endStep = _lastStep;
-
-	unsigned int numSteps = (endStep - startStep + 1) / clusterCount;
-	if (_verbose)
-	{
-		cerr << "URGLaser::" << __func__ << "() Reading " << numSteps << " ranges between " <<
-			startStep << " and " << endStep << " with a cluster count of " << clusterCount << endl;
-	}
-
-	if (_scipVersion == 1)
-	{
-		// Send the command to ask for the most recent range data from startStep to endStep
-		NumberToString (startStep, buffer, 3);
-		NumberToString (endStep, &buffer[3], 3);
-		NumberToString (clusterCount, &buffer[6], 2);
-		data->_error = SendCommand ("G", buffer, 8, NULL);
-		// In SCIP1 mode we're going to get back 2-byte data
-		Read2ByteRangeData (data, numSteps);
-	}
-	else if (_scipVersion == 2)
-	{
-		// Send the command to ask for the most recent range data from startStep to endStep
-		NumberToString (startStep, buffer, 4);
-		NumberToString (endStep, &buffer[4], 4);
-		NumberToString (clusterCount, &buffer[8], 2);
-		data->_error = SendCommand ("GD", buffer, 10, NULL);
-		// There will be a timestamp before the data (if there is data)
-		// Normally we would send 6 for the expected length, but we may get no timestamp back if
-		// there was no data.
-		if (ReadLineWithCheck (buffer) == 0)
-			throw URGError (URG_ERR_NODATA, "No data received. Check data error code.");
-		data->_time = Decode4ByteValue (buffer);
-		// In SCIP2 mode we're going to get back 3-byte data because we're sending the GD command
-		Read3ByteRangeData (data, numSteps);
-	}
-	else
-		throw URGError (URG_ERR_SCIPVERSION, "Unknown SCIP version.");
-
-	return data->_length;
-}
-
-unsigned int URGLaser::GetRanges (URGData *data, double startAngle,
-									double endAngle, unsigned int clusterCount)
-{
-	if (data == NULL)
-		throw URGError (URG_ERR_NODESTINATION, "No data destination provided.");
-
-	// Calculate the given angles in steps, rounding towards _frontStep
-	int startStep, endStep;
-	startStep = AngleToStep (startAngle);
-	endStep = AngleToStep (endAngle);
-//	double startStepF, endStepF;
-//	startStepF = _frontStep +
-//		(static_cast<double> (startAngle) / static_cast<double> (_resolution));
-//	// Round towards _frontStep so that the step values are always inside the angles given
-//	if (startStepF < _frontStep)
-//		startStep = static_cast<int> (ceil (startStepF));
-//	else
-//		startStep = static_cast<int> (floor (startStepF));
-//	endStepF = _frontStep + (static_cast<double> (endAngle) / static_cast<double> (_resolution));
-//	if (endStepF < _frontStep)
-//		endStep = static_cast<int> (ceil (endStepF));
-//	else
-//		endStep = static_cast<int> (floor (endStepF));
-
-	// Check the steps are within the allowable range
-	if (startStep < _firstStep || startStep > _lastStep)
-		throw URGError (URG_ERR_BADARG, "Start step is out of range.");
-	if (endStep < _firstStep || endStep > _lastStep)
-		throw URGError (URG_ERR_BADARG, "End step is out of range.");
-
-	if (_verbose)
-	{
-		cerr << "URGLaser::" << __func__ << "() Start angle " << startAngle << " is step " <<
-			startStep << ", end angle " << endAngle << " is step " << endStep << endl;
-	}
-
-	// Get the data
-	return GetRanges (data, startStep, endStep, clusterCount); 
-}
-
-unsigned int URGLaser::GetNewRanges (URGData *data, int startStep, int endStep,
-									unsigned int clusterCount)
-{
-	if (data == NULL)
-		throw URGError (URG_ERR_NODESTINATION, "No data destination provided.");
-
-	if (_scipVersion == 1)
-	{
-		throw URGError (URG_ERR_UNSUPPORTED,
-				"SCIP version 1 does not support the get new ranges command.");
-	}
-	else if (_scipVersion == 2)
-	{
-		char buffer[14];
-		memset (buffer, 0, sizeof (char) * 14);
-
-		if (startStep < 0)
-			startStep = _firstStep;
-		if (endStep < 0)
-			endStep = _lastStep;
-
-		unsigned int numSteps = (endStep - startStep + 1) / clusterCount;
-		if (_verbose)
-		{
-			cerr << "URGLaser::" << __func__ << "() Reading " << numSteps << 
-				" new ranges between " << startStep << " and " << endStep << 
-				" with a cluster count of " << clusterCount << endl;
-		}
-
-		// Send the command to ask for the most recent range data from startStep to endStep
-		NumberToString (startStep, buffer, 4);
-		NumberToString (endStep, &buffer[4], 4);
-		NumberToString (clusterCount, &buffer[8], 2);
-		NumberToString (1, &buffer[10], 1);
-		NumberToString (1, &buffer[11], 2);
-		data->_error = SendCommand ("MD", buffer, 13, NULL);
-		// There will be a timestamp before the data (if there is data)
-		// Normally we would send 6 for the expected length, but we may get no timestamp back if
-		// there was no data.
-		if (ReadLineWithCheck (buffer) == 0)
-			throw URGError (URG_ERR_NODATA, "No data received. Check data error code.");
-		data->_time = Decode4ByteValue (buffer);
-		// In SCIP2 mode we're going to get back 3-byte data because we're sending the MD command
-		Read3ByteRangeData (data, numSteps);
-	}
-	else
-		throw URGError (URG_ERR_SCIPVERSION, "Unknown SCIP version.");
-
-	return data->_length;
-}
-
-unsigned int URGLaser::GetNewRanges (URGData *data, double startAngle, double endAngle,
-									unsigned int clusterCount)
-{
-	if (data == NULL)
-		throw URGError (URG_ERR_NODESTINATION, "No data destination provided.");
-	if (_scipVersion == 1)
-	{
-		throw URGError (URG_ERR_UNSUPPORTED,
-				"SCIP version 1 does not support the get new ranges command.");
-	}
-
-	// Calculate the given angles in steps, rounding towards _frontStep
-	int startStep, endStep;
-	startStep = AngleToStep (startAngle);
-	endStep = AngleToStep (endAngle);
-//	double startStepF, endStepF;
-//	startStepF = _frontStep +
-//		(static_cast<double> (startAngle) / static_cast<double> (_resolution));
-//	// Round towards _frontStep so that the step values are always inside the angles given
-//	if (startStepF < _frontStep)
-//		startStep = static_cast<int> (ceil (startStepF));
-//	else
-//		startStep = static_cast<int> (floor (startStepF));
-//	endStepF = _frontStep + (static_cast<double> (endAngle) / static_cast<double> (_resolution));
-//	if (endStepF < _frontStep)
-//		endStep = static_cast<int> (ceil (endStepF));
-//	else
-//		endStep = static_cast<int> (floor (endStepF));
-
-	// Check the steps are within the allowable range
-	if (startStep < _firstStep || startStep > _lastStep)
-		throw URGError (URG_ERR_BADARG, "Start step is out of range.");
-	if (endStep < _firstStep || endStep > _lastStep)
-		throw URGError (URG_ERR_BADARG, "End step is out of range.");
-
-	if (_verbose)
-	{
-		cerr << "URGLaser::" << __func__ << "() Start angle " << startAngle << " is step " <<
-			startStep << ", end angle " << endAngle << " is step " << endStep << endl;
-	}
-
-	// Get the data
-	return GetNewRanges (data, startStep, endStep, clusterCount); 
-}
-
-double URGLaser::StepToAngle (unsigned int step)
-{
-	return (static_cast<int> (step) - static_cast<int> (_frontStep)) * _resolution;
-}
-
-unsigned int URGLaser::AngleToStep (double angle)
-{
-	unsigned int result;
-	double resultF;
-	resultF = _frontStep +
-		(static_cast<double> (angle) / static_cast<double> (_resolution));
-	// Round towards _frontStep so that the step values are always inside the angles given
-	if (resultF < _frontStep)
-		result = static_cast<int> (ceil (resultF));
-	else
-		result = static_cast<int> (floor (resultF));
-
-	return result;
-}
-
-// Private functions
-////////////////////////////////////////////////////////////////////////////////////////////////////
-
-// If expectedLength is not -1, it should include the terminating line feed but not the NULL
-// (although the buffer still has to include this).
-// If expectedLenght is -1, this function expects buffer to be a certain length to allow up to the
-// maximum line length to be read. See SCIP1_LINE_LENGTH and SCIP2_LINE_LENGTH.
-// The line feed that terminates a line will be replaced with a NULL.
-// The return value is the number of bytes received, not including the NULL byte or the line feed.
-int URGLaser::ReadLine (char *buffer, int expectedLength)
-{
-	int lineLength = 0;
-
-	if (expectedLength == -1)
-	{
-		int maxLength = (_scipVersion == 1) ? SCIP1_LINE_LENGTH : SCIP2_LINE_LENGTH;
-		if (_verbose)
-		{
-			cerr << "URGLaser::" << __func__ << "() Reading up to " << maxLength << " bytes." <<
-				endl;
-		}
-		// We need to get at least 1 byte in a line: the line feed.
-		if ((lineLength = _port->ReadLine (buffer, maxLength)) < 0)
-			throw URGError (URG_ERR_READ, "Timed out trying to read a line.");
-		else if (lineLength == 0)
-			throw URGError (URG_ERR_READ, "No data received when trying to read a line.");
-		// Replace the line feed with a NULL
-		buffer[lineLength - 1] = '\0';
-	}
-	else
-	{
-		if (_verbose)
-		{
-			cerr << "URGLaser::" << __func__ << "() Reading exactly " << expectedLength <<
-				" bytes." << endl;
-		}
-		if ((lineLength = _port->ReadLine (buffer, expectedLength + 1)) < 0) // +1 for the NULL
-			throw URGError (URG_ERR_READ, "Timed out trying to read a line.");
-		else if (lineLength == 0)
-			throw URGError (URG_ERR_READ, "No data received when trying to read a line.");
-		else if (lineLength < expectedLength)
-		{
-			stringstream ss;
-			ss << "URGLaser::" << __func__ << "() Got an incorrect line length: " << lineLength <<
-				" != " << expectedLength; 
-			throw URGError (URG_ERR_PROTOCOL, ss.str ());
-		}
-		// Replace the line feed with a NULL
-		buffer[lineLength - 1] = '\0';
-	}
-
-	if (_verbose)
-	{
-		cerr << "URGLaser::" << __func__ << "() Read " << lineLength << " bytes." << endl;
-		cerr << "URGLaser::" << __func__ << "() Line is " << buffer << endl;
-	}
-	return lineLength - 1; // Line feed not included
-}
-
-// This function will read a line and then calculate its checksum, comparing it with the checksum
-// at the end of the line. The checksum will be removed (along with the semi-colon, if present).
-// buffer and expectedLength args are as for ReadLine().
-// If hasSemicolon is true, the byte before the checksum is assumed to be the semi-colon separator
-// and so not a part of the checksum. If it's not a semi-colon, an exception is thrown.
-// Empty lines (i.e. a line that is just the line feed, as at the end of the message) will result in
-// a return value of zero and no checksum check will be performed. Otherwise the number of actual
-// data bytes (i.e. excluding the checksum and semicolon) will be returned.
-int URGLaser::ReadLineWithCheck (char *buffer, int expectedLength, bool hasSemicolon)
-{
-	int lineLength = ReadLine (buffer, expectedLength);
-	if (_scipVersion == 1)
-	{
-		// No checksums in SCIP version 1
-		return lineLength;
-	}
-
-	// If the line is empty, assume it was a line-feed message terminator, in which case there is no
-	// checksum to check.
-	if (lineLength == 0)
-		return 0;
-
-	// Ignore the checksum itself, and possibly a semicolon (ReadLine has already chopped off the
-	// line feed for us).
-	int bytesToConsider = lineLength - 1 - (hasSemicolon ? 1 : 0);
-	int checksumIndex = bytesToConsider + (hasSemicolon ? 1 : 0);  
-	if (_verbose)
-	{
-		cerr << "URGLaser::" << __func__ << "() Considering " << bytesToConsider <<
-			" bytes for checksum from a line length of " << lineLength << " bytes." << endl;
-	}
-	if (bytesToConsider < 1)
-	{
-		stringstream ss;
-		ss << "Not enough bytes to calculate checksum with: " << bytesToConsider <<
-			" bytes (line length is " << lineLength << " bytes)."; 
-		throw URGError (URG_ERR_PROTOCOL, ss.str ());
-	}
-
-	int checkSum = 0;
-	// Start by adding the byte values
-	for (int ii = 0; ii < bytesToConsider; ii++)
-		checkSum += buffer[ii];
-	// Take the lowest 6 bits
-	checkSum &= 0x3F;
-	// Add 0x30
-	checkSum += 0x30;
-
-	if (_verbose)
-	{
-		cerr << "URGLaser::" << __func__ << "() Calculated checksum = " << checkSum << " (" <<
-			static_cast<char> (checkSum) << "), given checksum = " <<
-			static_cast<int> (buffer[checksumIndex]) << " (" << buffer[checksumIndex] <<
-			")" << endl;
-	}
-	if (checkSum != static_cast<int> (buffer[checksumIndex]))
-	{
-		stringstream ss;
-		ss << "Invalid checksum -  given: " << static_cast<int> (buffer[checksumIndex]) << 
-			", calculated: " << checkSum; 
-		throw URGError (URG_ERR_PROTOCOL, ss.str ());
-	}
-
-	// Null out the semi-colon (if there) and checksum
-	buffer[bytesToConsider] = '\0';
-
-	return bytesToConsider;
-}
-
-// Reads lines until the number specified has passed.
-void URGLaser::SkipLines (int count)
-{
-	if (_verbose)
-		cerr << "URGLaser::" << __func__ << "() Skipping " << count << " lines." << endl;
-	if (_port->SkipUntil (0x0A, count) < 0)
-		throw URGError (URG_ERR_READ, "Timed out while skipping.");
-}
-
-// Sends a command with optional parameters and checks that the echo of the command and parameters
-// sent are correct, and that the returned status code is 0 or the first byte of extraOK (for
-// SCIP1), or 00, 99 or the first two bytes of extraOK (for SCIP2).
-// cmd must be a 1 byte string for SCIP1 and a 2-byte NULL-terminated string for SCIP2.
-// If paramLength is 0, no parameters will be sent or expected in the reply.
-// extraOK must be a 1-byte string for SCIP1 and a 2-byte string for SCIP2.
-// Return value is the status code returned for the command.
-int URGLaser::SendCommand (char *cmd, char *param, int paramLength, char *extraOK)
-{
-	int statusCode = -1;
-	char response[16];
-	if (_scipVersion == 1)
-	{
-		if (_verbose)
-		{
-			cerr << "URGLaser::" << __func__ << "() Writing in SCIP1 mode. Command is " <<
-				cmd[0] << ", parameters length is " << paramLength << endl;
-		}
-		// Write the command
-		if (_port->Write (cmd, 1) < 1)
-			throw URGError (URG_ERR_WRITE, "Failed to write command byte.");
-		if (paramLength > 0)
-		{
-			if (_port->Write (param, paramLength) < paramLength)
-				throw URGError (URG_ERR_WRITE, "Failed to write command parameters.");
-		}
-		if (_port->Write ("\n", 1) < 1)
-			throw URGError (URG_ERR_WRITE, "Failed to write termination character.");
-
-		// Read back the response (should get at least 4 bytes , possibly up to 16 including \n's 
-		// depending on the parameters): cmd[0] params \n status \n
-		int statusIndex = 2 + paramLength;
-		ReadLine (response, 2 + paramLength);
-		ReadLine (&response[statusIndex], 2);
-		// First make sure that the echoed command matches
-		if (response[0] != cmd[0])
-		{
-			throw URGError (URG_ERR_PROTOCOL, string ("Incorrect command echo: ") + cmd[0] +
-					string (" != ") + response[0]);
-		}
-		// Then compare the parameters
-		if (paramLength > 0)
-		{
-			if (memcmp (&response[1], param, paramLength) != 0)
-				throw URGError (URG_ERR_PROTOCOL, string ("Incorrect paramaters echo for command ")
-						+ cmd[0]);
-		}
-		// Next up, check the status byte
-		if (_verbose)
-		{
-			cerr << "URGLaser::" << __func__ << "() Command response status: " << 
-				response[statusIndex] << endl;
-		}
-		if (response[statusIndex] != '0')
-		{
-			if (extraOK != NULL)
-			{
-				if (response[statusIndex] != extraOK[0])
-				{
-					stringstream ss;
-					ss << "Bad response to " << cmd[0] << " command: " << " " <<
-						SCIP1ErrorToString (response[statusIndex], cmd[0]);
-					throw URGError (URG_ERR_PROTOCOL, ss.str ());
-				}
-			}
-			else
-			{
-				stringstream ss;
-				ss << "Bad response to " << cmd[0] << " command: " << response[statusIndex] <<
-					" " << SCIP1ErrorToString (response[statusIndex], cmd[0]);
-				throw URGError (URG_ERR_PROTOCOL, ss.str ());
-			}
-		}
-		statusCode = atoi (&response[statusIndex]);
-		// All OK, data starts at beginning of port's buffer
-	}
-	else if (_scipVersion == 2)
-	{
-		if (_verbose)
-		{
-			cerr << "URGLaser::" << __func__ << "() Writing in SCIP2 mode. Command is " <<
-				cmd << ", parameters length is " << paramLength << endl;
-		}
-		// Write the command
-		if (_port->Write (cmd, 2) < 2)
-			throw URGError (URG_ERR_WRITE, "Failed to write command byte.");
-		if (paramLength > 0)
-		{
-			if (_port->Write (param, paramLength) < paramLength)
-				throw URGError (URG_ERR_WRITE, "Failed to write command parameters.");
-		}
-		if (_port->Write ("\n", 1) < 1)
-			throw URGError (URG_ERR_WRITE, "Failed to write termination character.");
-
-		// Read back the command echo (minimum of 3 bytes, maximum of 16 bytes)
-		ReadLine (response, 3 + paramLength);
-		// Check the echo is correct
-		if (response[0] != cmd[0] || response[1] != cmd[1])
-		{
-			stringstream ss;
-			ss << "Incorrect command echo: " << cmd << " != " << response[0] << response[1];
-			throw URGError (URG_ERR_PROTOCOL, ss.str ());
-		}
-		// Then compare the parameters
-		if (paramLength > 0)
-		{
-			if (memcmp (&response[2], param, paramLength) != 0)
-				throw URGError (URG_ERR_PROTOCOL, string ("Incorrect paramaters echo for command ")
-						+ cmd);
-		}
-
-		// The next line should be the status line
-		ReadLineWithCheck (response, 4);
-		if (_verbose)
-		{
-			cerr << "URGLaser::" << __func__ << "() Command ...
 
[truncated message content]