laserscanner_lms400.h

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#ifndef LASERSCANNER_LMS400_H
#define LASERSCANNER_LMS400_H

#ifndef Q_MOC_RUN
#include <sick_lms400.h>
#endif
#include "abstract_laserscanner.h"


class LaserScanner_LMS400 : public Abstract_LaserScanner
{
    Q_OBJECT
public:
    LaserScanner_LMS400(std::string hostname, int framerate);
    void run();
    void stop();

signals:
    void newData(const sensor_msgs::LaserScan::ConstPtr& msg);

protected:
    sensor_msgs::LaserScan::Ptr msg_ptr;
    asr_sick_lms_400::asr_sick_lms_400 sickLMS400;
    int framerate;
    bool active;
    static constexpr float SCANNER_TARGET_RESOLUTION = 0.2;
    static constexpr float SCANNER_STARTING_ANGLE = 55;
    static constexpr float SCANNER_ANGLE_SPREAD = 70;

    float scanner_actual_resolution, scanner_max_resolution;
    std::string hostname;
    int Socket;
    unsigned long LMSError;
    float real_scan_freq, real_angle_res;
    int MQuality;

};


#endif // LASERSCANNER_LMS400_H