Program Listing for File sicks300_2.hpp

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/*
 * 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