leuze_laser_driver.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg 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 <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _leuze_laser_driver_h_
#define _leuze_laser_driver_h_

#include <iri_base_driver/iri_base_driver.h>
#include <iri_leuze_laser/LeuzeLaserConfig.h>

//include leuze_laser_driver main library
#include "leuze_laser.h"
#include <sensor_msgs/LaserScan.h>
#include <iri_common_drivers_msgs/leuze_status.h>

class LeuzeLaserDriver : public iri_base_driver::IriBaseDriver
{
  private:
    // private attributes and methods
    CLeuzeLaser leuze_;

  public:
    typedef iri_leuze_laser::LeuzeLaserConfig Config;

    Config config_;

    LeuzeLaserDriver();

    bool openDriver(void);

    bool closeDriver(void);

    bool startDriver(void);

    bool stopDriver(void);

    void config_update(const Config& new_cfg, uint32_t level=0);

    // here define all leuze_laser_driver interface methods to retrieve and set
    // the driver parameters
    std::string getNewScanEventId(void) const;
    std::string getNoLaserEventId(void) const;
    sensor_msgs::LaserScan getScan(void);
    sensor_msgs::LaserScan leuzeScantoLaserScan(const TLeuzeScan & leuze_scan);
    iri_common_drivers_msgs::leuze_status getStatus(void);
    bool changePair(unsigned char new_pair);

    ~LeuzeLaserDriver();
};

#endif