rsdriver.h

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/* -*- mode: C++ -*- */
/*
 *  Copyright (C) 2012 Austin Robot Technology, Jack O'Quin
 *      Copyright (C) 2017 Robosense, Tony Zhang
 *
 *  License: Modified BSD Software License Agreement
 *

 Copyright (C) 2010-2013 Austin Robot Technology, and others
 All rights reserved.


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--------------------

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#ifndef _RSDRIVER_H_
#define _RSDRIVER_H_

#include <string>
#include <ros/ros.h>
#include <ros/package.h>
#include <diagnostic_updater/diagnostic_updater.h>
#include <diagnostic_updater/publisher.h>
#include <dynamic_reconfigure/server.h>
#include <rslidar_driver/rslidarNodeConfig.h>
#include <pcl/point_types.h>
#include <pcl_ros/impl/transforms.hpp>
#include <pcl_conversions/pcl_conversions.h>
#include "input.h"

namespace rslidar_driver
{
class rslidarDriver
{
public:
  rslidarDriver(ros::NodeHandle node, ros::NodeHandle private_nh);

  ~rslidarDriver()
  {
  }

  bool poll(void);
  void difopPoll(void);

private:
  void callback(rslidar_driver::rslidarNodeConfig& config, uint32_t level);

  boost::shared_ptr<dynamic_reconfigure::Server<rslidar_driver::rslidarNodeConfig> > srv_;

  // configuration parameters
  struct
  {
    std::string frame_id;  
    std::string model;     
    int npackets;          
    double rpm;            
    double time_offset;    
    int cut_angle;
  } config_;

  boost::shared_ptr<Input> msop_input_;
  boost::shared_ptr<Input> difop_input_;
  ros::Publisher msop_output_;
  ros::Publisher difop_output_;
  // Converter convtor_;
  diagnostic_updater::Updater diagnostics_;
  double diag_min_freq_;
  double diag_max_freq_;
  boost::shared_ptr<diagnostic_updater::TopicDiagnostic> diag_topic_;
  boost::shared_ptr<boost::thread> difop_thread_;
};

}  // namespace rslidar_driver

#endif