Program Listing for File scansegment_threads.h
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#include "sick_scan/sick_scan_base.h" /* Base definitions included in all header files, added by add_sick_scan_base_header.py. Do not edit this line. */
/*
* @brief scansegement_threads runs all threads to receive, convert and publish scan data for the sick 3D lidar multiScan136.
*
* Copyright (C) 2022 Ing.-Buero Dr. Michael Lehning, Hildesheim
* Copyright (C) 2022 SICK AG, Waldkirch
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of SICK AG nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission
* * Neither the name of Ing.-Buero Dr. Michael Lehning nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* Authors:
* Michael Lehning <michael.lehning@lehning.de>
*
* Copyright 2022 SICK AG
* Copyright 2022 Ing.-Buero Dr. Michael Lehning
*
*/
#ifndef __SICK_SCANSEGEMENT_THREADS_H
#define __SICK_SCANSEGEMENT_THREADS_H
namespace sick_scan_xd
{
class SickScanServices;
}
#include "sick_scansegment_xd/config.h"
namespace sick_scansegment_xd
{
/*
* @brief Initializes and runs all threads to receive, convert and publish scan data for the sick 3D lidar multiScan136.
*/
int run(rosNodePtr node, const std::string& scannerName);
/*
* @brief class MsgPackThreads runs all threads to receive, convert and publish scan data for the sick 3D lidar multiScan136.
*/
class MsgPackThreads
{
public:
/*
* @brief MsgPackThreads constructor
*/
MsgPackThreads();
/*
* @brief MsgPackThreads destructor
*/
~MsgPackThreads();
/*
* @brief Initializes msgpack receiver, converter and publisher and starts msgpack handling and publishing in a background thread.
*/
bool start(const sick_scansegment_xd::Config& config);
/*
* @brief Stops running threads and closes msgpack receiver, converter and publisher.
*/
bool stop(bool do_join);
/*
* @brief Joins running threads and returns after they finished.
*/
void join(void);
protected:
/*
* @brief Thread callback, initializes and runs msgpack receiver, converter and publisher.
*/
bool runThreadCb(void);
sick_scansegment_xd::Config m_config; // sick_scansegment_xd configuration
std::thread* m_scansegment_thread; // background thread to convert msgpack to ScanSegmentParserOutput data
bool m_run_scansegment_thread; // flag to start and stop the udp converter thread
};
sick_scan_xd::SickScanServices* sopasService();
} // namespace sick_scansegment_xd
#endif // __SICK_SCANSEGEMENT_THREADS_H