Program Listing for File lfcd_laser.hpp

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* Copyright (c) 2017, ROBOTIS
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 /* Authors: Pyo, Darby, SP Kong, JH Yang */
 /* maintainer: Pyo */

#include <string>
#include <sensor_msgs/msg/laser_scan.hpp>
#include <boost/asio.hpp>
#include <boost/array.hpp>

namespace hls_lfcd_lds
{
class LFCDLaser
{
public:
    uint16_t rpms;
    LFCDLaser(const std::string& port, uint32_t baud_rate, boost::asio::io_service& io);

    ~LFCDLaser();

    void poll(sensor_msgs::msg::LaserScan::SharedPtr scan);

    void close() { shutting_down_ = true; }

private:
    std::string port_;
    uint32_t baud_rate_;
    bool shutting_down_;
    boost::asio::serial_port serial_;
    uint16_t motor_speed_;
    //rclcpp::Publisher<sensor_msgs::msg::LaserScan>::SharedPtr laser_pub_;
};
}