Program Listing for File LMS1xx.h

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/*
 * 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_ */