.. _program_listing_file__tmp_ws_src_sicks300_2_include_sicks300_2_sicks300_2.hpp:

Program Listing for File sicks300_2.hpp
=======================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_sicks300_2_include_sicks300_2_sicks300_2.hpp>` (``/tmp/ws/src/sicks300_2/include/sicks300_2/sicks300_2.hpp``)

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

.. code-block:: cpp

   /*
    * SICK S300 2 ROS NODE
    *
    * Copyright (c) 2022-2023 Alberto José Tudela Roldán <ajtudela@gmail.com>
    * 
    * This file is part of sicks300_2 project.
    * 
    * All rights reserved.
    *
    */
   
   #ifndef SICKS300_2__SICKS300_2_HPP_
   #define SICKS300_2__SICKS300_2_HPP_
   
   // C++
   #include <string>
   
   // ROS
   #include "rclcpp/rclcpp.hpp"
   #include "rclcpp_lifecycle/lifecycle_node.hpp"
   #include "rclcpp_lifecycle/lifecycle_publisher.hpp"
   #include "lifecycle_msgs/msg/transition.hpp"
   #include "std_msgs/msg/bool.hpp"
   #include "sensor_msgs/msg/laser_scan.hpp"
   #include "diagnostic_msgs/msg/diagnostic_array.hpp"
   
   // Common
   #include "common/ScannerSickS300.h"
   
   typedef rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn rclcpp_CallReturn;
   
   class SickS3002: public rclcpp_lifecycle::LifecycleNode{
       public:
           SickS3002(const std::string& name, bool intra_process_comms = false);
           ~SickS3002();
           rclcpp_CallReturn on_configure(const rclcpp_lifecycle::State &);
           rclcpp_CallReturn on_activate(const rclcpp_lifecycle::State & state);
           rclcpp_CallReturn on_deactivate(const rclcpp_lifecycle::State & state);
           rclcpp_CallReturn on_cleanup(const rclcpp_lifecycle::State &);
           rclcpp_CallReturn on_shutdown(const rclcpp_lifecycle::State & state);
   
       private:
           rclcpp_lifecycle::LifecyclePublisher<sensor_msgs::msg::LaserScan>::SharedPtr laser_scan_pub_;
           rclcpp_lifecycle::LifecyclePublisher<std_msgs::msg::Bool>::SharedPtr in_standby_pub_;
           rclcpp_lifecycle::LifecyclePublisher<diagnostic_msgs::msg::DiagnosticArray>::SharedPtr diag_pub_;
           std_msgs::msg::Bool in_standby_;
           rclcpp::Time synced_ros_time_;
   
           std::string frame_id_, scan_topic_, port_;
           int baud_, scan_id_;
           bool inverted_, debug_, synced_time_ready_;
           unsigned int synced_sick_stamp_;
           double scan_duration_, scan_cycle_time_, scan_delay_, communication_timeout_;
           ScannerSickS300 scanner_;
           rclcpp::TimerBase::SharedPtr timer_;
   
           bool open();
           bool receiveScan();
           void publishStandby(bool in_standby);
           void publishLaserScan(std::vector<double> vdDistM, std::vector<double> vdAngRAD, 
                               std::vector<double> vdIntensAU, unsigned int iSickTimeStamp, 
                               unsigned int iSickNow);
           void publishError(std::string error);
           void publishWarn(std::string warn);
   };
   #endif