start_request.h

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// Copyright (c) 2020-2021 Pilz GmbH & Co. KG
//
// This program 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.
//
// 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 Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <https://www.gnu.org/licenses/>.
#ifndef PSEN_SCAN_V2_STANDALONE_START_REQUEST_H
#define PSEN_SCAN_V2_STANDALONE_START_REQUEST_H
 
#include <array>
#include <cstdint>
 
#include "psen_scan_v2_standalone/data_conversion_layer/raw_scanner_data.h"
#include "psen_scan_v2_standalone/scan_range.h"
#include "psen_scan_v2_standalone/util/tenth_of_degree.h"
 
namespace psen_scan_v2_standalone
{
class ScannerConfiguration;
 
namespace data_conversion_layer
{
namespace start_request
{
class Message
{
public:
  Message(const ScannerConfiguration& scanner_configuration);
 
  friend data_conversion_layer::RawData serialize(const data_conversion_layer::start_request::Message& msg,
                                                  const uint32_t& seq_number);
 
private:
  class LaserScanSettings
  {
  public:
    constexpr LaserScanSettings() = default;
    constexpr LaserScanSettings(const ScanRange& scan_range, const util::TenthOfDegree& resolution);
 
  public:
    constexpr const ScanRange& scanRange() const;
    constexpr util::TenthOfDegree resolution() const;
 
  private:
    const ScanRange scan_range_{ ScanRange::createInvalidScanRange() };
    const util::TenthOfDegree resolution_{ 0 };
  };
 
  class DeviceSettings
  {
  public:
    constexpr DeviceSettings(const bool diagnostics_enabled,
                             const bool intensities_enabled,
                             const uint8_t nr_subscribers);
 
  public:
    constexpr bool diagnosticsEnabled() const;
    constexpr bool intensitiesEnabled() const;
    constexpr uint8_t nrSubscribers() const;
 
  private:
    const bool diagnostics_enabled_;
    const bool intensities_enabled_;
    const uint8_t nr_subscribers_;
  };
 
private:
  static constexpr std::size_t NUM_SUBSCRIBERS{ 3 };
 
private:
  const uint32_t host_ip_;  
  const uint16_t host_udp_port_data_;
 
  const DeviceSettings master_device_settings_;
  const LaserScanSettings master_;
  const std::array<LaserScanSettings, NUM_SUBSCRIBERS> subscribers_;  // Note: This refers to the scanner type
                                                                      // subscriber, *not* a ros subscriber
};
 
constexpr Message::LaserScanSettings::LaserScanSettings(const ScanRange& scan_range,
                                                        const util::TenthOfDegree& resolution)
  : scan_range_(scan_range), resolution_(resolution)
{
}
 
constexpr const ScanRange& Message::LaserScanSettings::scanRange() const
{
  return scan_range_;
};
 
constexpr util::TenthOfDegree Message::LaserScanSettings::resolution() const
{
  return resolution_;
};
 
constexpr Message::DeviceSettings::DeviceSettings(const bool diagnostics_enabled,
                                                  const bool intensities_enabled,
                                                  const uint8_t nr_subscribers)
  : diagnostics_enabled_(diagnostics_enabled)
  , intensities_enabled_(intensities_enabled)
  , nr_subscribers_(nr_subscribers)
{
}
 
constexpr bool Message::DeviceSettings::diagnosticsEnabled() const
{
  return diagnostics_enabled_;
};
 
constexpr bool Message::DeviceSettings::intensitiesEnabled() const
{
  return intensities_enabled_;
};
 
constexpr uint8_t Message::DeviceSettings::nrSubscribers() const
{
  return nr_subscribers_;
};
 
}  // namespace start_request
}  // namespace data_conversion_layer
}  // namespace psen_scan_v2_standalone
 
#endif  // PSEN_SCAN_V2_STANDALONE_START_REQUEST_H