Class MsgPackConverter

Class Documentation

class MsgPackConverter

Public Functions

MsgPackConverter()
MsgPackConverter(const ScanSegmentParserConfig &parser_config, const sick_scan_xd::SickCloudTransform &add_transform_xyz_rpy, sick_scansegment_xd::PayloadFifo *input_fifo, int scandataformat = 2, int msgpack_output_fifolength = 20, bool verbose = false)
~MsgPackConverter()
bool Start(void)
void Close(void)
void SetValidator(sick_scansegment_xd::MsgPackValidator &msgpack_validator, bool msgpack_validator_enabled, bool discard_msgpacks_not_validated, int msgpack_validator_check_missing_scandata_interval)
inline sick_scansegment_xd::Fifo<ScanSegmentParserOutput> *Fifo(void)

Protected Functions

bool Run(void)

Protected Attributes

bool m_verbose
ScanSegmentParserConfig m_parser_config
PayloadFifo *m_input_fifo
int m_scandataformat
sick_scansegment_xd::Fifo<ScanSegmentParserOutput> *m_output_fifo
std::thread *m_converter_thread
bool m_run_converter_thread
bool m_msgpack_validator_enabled
sick_scansegment_xd::MsgPackValidator m_msgpack_validator
bool m_discard_msgpacks_not_validated
int m_msgpack_validator_check_missing_scandata_interval
sick_scan_xd::SickCloudTransform m_add_transform_xyz_rpy