#include "ros/ros.h"
#include "sensor_msgs/Range.h"
#include <diagnostic_updater/diagnostic_updater.h>
#include <diagnostic_updater/publisher.h>
#include <dynamic_reconfigure/server.h>
#include <evarobot_sonar/SonarParamsConfig.h>
#include <time.h>
#include <vector>
#include <sstream>
#include <stdio.h>
#include <stdlib.h>
#include <fcntl.h>
#include <math.h>
#include <unistd.h>
#include <sys/ioctl.h>
#include <exception>
#include <boost/shared_ptr.hpp>
#include <ros/console.h>
#include "ErrorCodes.h"

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Classes
class	IMDynamicReconfig
class	IMSONAR
struct	sonar_data
struct	sonar_ioc_transfer
Defines
#define	IOCTL_READ_RANGE _IOWR(SNRDRIVER_IOCTL_BASE, 1, struct sonar_data)
#define	IOCTL_SET_PARAM _IOW(SNRDRIVER_IOCTL_BASE, 0, struct sonar_ioc_transfer)
#define	MAX_SONAR 7
#define	MAX_TRIGGER_TIME 1.2
#define	SNRDRIVER_IOCTL_BASE 0xAE
Variables
bool	b_is_received_params = false
bool	g_b_always_on
double	g_d_field_of_view
double	g_d_max_range
double	g_d_min_range
int	g_i_is_alive [MAX_SONAR]
int	SONAR [] = {23, 24, 25, 26, 16, 20, 21}