ls01b.h

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/*******************************************************
@company: Copyright (C) 2018, Leishen Intelligent System
@product: LS01B
@filename: ls01b.h
@brief:
@version:       date:       author:     comments:
@v1.0           18-8-21     fu          new
*******************************************************/
#ifndef LS01B_H
#define LS01B_H
#include <boost/date_time/posix_time/posix_time.hpp>
#include <boost/thread.hpp>
#include <string>
#include "ls01b_v2/lsiosr.h"
#include <ros/ros.h>

namespace ls {

typedef struct {
    double degree;
    double range;
    double intensity;
} ScanPoint;

//typedef struct {
//  std::chrono::steady_clock::time_point time_stamp;
//  std::vector<ScanPoint> points;
//}ScanMsg;

class LS01B
{
public:
  ~LS01B();
    static LS01B* instance(std::string port, int baud_rate, double resolution);

    bool isHealth();

    bool resetHealth();

    int getScan(std::vector<ScanPoint> &points, ros::Time &scan_time, float &scan_duration);

    int getVersion(std::string &version);


    int getRate();

    int startScan();

    int stopScan();

    int setScanMode(bool is_continuous);

    int stopRecvData();

    int switchData(bool use_angle);

    int setMotorSpeed(int rpm);

    int setResolution(double resolution);

    double getRPM();

private:
    LS01B(std::string port, int baud_rate, double resolution = 0.25);

    void recvThread();

    uint16_t checkSum(const uint8_t *p_byte);

    std::vector<ScanPoint> scan_points_;
    std::vector<ScanPoint> scan_points_bak_;
//    ScanMsg scan_msg_;

    LSIOSR * serial_;
    boost::thread *recv_thread_;
    boost::mutex mutex_;

    bool is_shutdown_;    // shutdown recvthread
    bool is_start_;       // begin to read data from lidar
    bool use_angle_;
    
    int scan_health_; // 0 OK
    double resolution_;
    int data_len_;

    int points_size_;
    int rpm_;
    double real_rpm_;

    ros::Time pre_time_;
    ros::Time time_;

};

}
#endif