.. _program_listing_file__tmp_ws_src_lms1xx_include_LMS1xx_LMS1xx.h:

Program Listing for File LMS1xx.h
=================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_lms1xx_include_LMS1xx_LMS1xx.h>` (``/tmp/ws/src/lms1xx/include/LMS1xx/LMS1xx.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * LMS1xx.h
    *
    *  Created on: 09-08-2010
    *  Author: Konrad Banachowicz
    ***************************************************************************
    *   This library 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 2.1 of the License, or (at your option) any later version.    *
    *                                                                         *
    *   This library 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 library; if not, write to the Free Software   *
    *   Foundation, Inc., 59 Temple Place,                                    *
    *   Suite 330, Boston, MA  02111-1307  USA                                *
    *                                                                         *
    ***************************************************************************/
   
   #ifndef LMS1XX_H_
   #define LMS1XX_H_
   
   #include "LMS1xx/lms_buffer.h"
   #include "LMS1xx/lms_structs.h"
   
   #include <string>
   #include <stdint.h>
   
   #include "rclcpp/logging.hpp"
   
   
   typedef enum
   {
     undefined = 0,
     initialisation = 1,
     configuration = 2,
     idle = 3,
     rotated = 4,
     in_preparation = 5,
     ready = 6,
     ready_for_measurement = 7
   } status_t;
   
   class LMS1xx
   {
   public:
     LMS1xx();
     virtual ~LMS1xx();
   
     void connect(std::string host, int port = 2111);
   
     void disconnect();
   
     bool isConnected();
   
     void startMeas();
   
     void stopMeas();
   
     status_t queryStatus();
   
     void login();
   
     scanCfg getScanCfg() const;
   
     void setScanCfg(const scanCfg &cfg);
   
     void setScanDataCfg(const scanDataCfg &cfg);
   
     scanOutputRange getScanOutputRange() const;
   
     void scanContinous(int start);
   
     bool getScanData(scanData* scan_data);
   
     void saveConfig();
   
     void startDevice();
   
   protected:
     static void parseScanData(char* buf, scanData* data);
   
     bool connected_;
     rclcpp::Logger logger_;
     LMSBuffer buffer_;
     int socket_fd_;
   };
   
   #endif /* LMS1XX_H_ */