Program Listing for File hlds_laser_segment_publisher.h

↰ Return to documentation for file (/tmp/ws/src/hls_lfcd_lds_driver/include/hls_lfcd_lds_driver/hlds_laser_segment_publisher.h)

/*******************************************************************************
* Copyright (c) 2016, Hitachi-LG Data Storage
* Copyright (c) 2017, ROBOTIS
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright notice, this
*   list of conditions and the following disclaimer.
*
* * Redistributions in binary form must reproduce the above copyright notice,
*   this list of conditions and the following disclaimer in the documentation
*   and/or other materials provided with the distribution.
*
* * Neither the name of the copyright holder nor the names of its
*   contributors may be used to endorse or promote products derived from
*   this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*******************************************************************************/

 /* Authors: SP Kong, JH Yang, Pyo */
 /* maintainer: Pyo */

#ifndef HLDS_LASER_SEGMENT_PUBLISHER_H_
#define HLDS_LASER_SEGMENT_PUBLISHER_H_

#include <string>
#include <std_msgs/UInt16.h>
#include <sensor_msgs/LaserScan.h>
#include <boost/asio.hpp>
#include <boost/array.hpp>

namespace hls_lfcd_lds
{
class LFCDLaser
{
 public:
  //uint16_t rpms; ///< @brief RPMS derived from the rpm bytes in an LFCD packet
    LFCDLaser(boost::asio::io_service& io);

  ~LFCDLaser() {};

  void poll();

  void close();

 private:
  // ROS NodeHandle
  ros::NodeHandle nh_;

  // ROS Topic Publishers
  ros::Publisher laser_pub_;

  std::string frame_id_;
  sensor_msgs::LaserScan scan_;

  std::string port_;
  int baud_rate_;
  int lfcdstart_;
  int lfcdstop_;
  int lfcdstartstop_;
  bool shutting_down_;
  boost::asio::serial_port serial_;
  uint16_t motor_speed_;
};
};

#endif // HLDS_LASER_SEGMENT_PUBLISHER_H_