sick_ldmrs_node.hpp

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/*
 * Copyright (C) 2015, DFKI GmbH
 * 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 DFKI GmbH 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.
 *
 *  Created on: 23.11.2015
 *
 *      Authors:
 *         Martin Günther <martin.guenther@dfki.de>
 *         Jochen Sprickerhof <jochen@sprickerhof.de>
 *
 */

#ifndef SICK_LDMRS800001S01_H_
#define SICK_LDMRS800001S01_H_

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <vector>

#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>
#include <sick_ldmrs_msgs/sick_ldmrs_point_type.h>

#include <diagnostic_updater/diagnostic_updater.h>
#include <diagnostic_updater/publisher.h>

#include <dynamic_reconfigure/server.h>
#include <sick_ldmrs_driver/SickLDMRSDriverConfig.h>

#include <sick_ldmrs/manager.hpp>
#include <sick_ldmrs/application/BasicApplication.hpp>
#include <sick_ldmrs/datatypes/Object.hpp>


namespace sick_ldmrs_driver
{

typedef pcl::PointCloud<sick_ldmrs_msgs::SICK_LDMRS_Point> PointCloud;

class SickLDMRS : public application::BasicApplication
{
public:
  SickLDMRS(Manager* manager, boost::shared_ptr<diagnostic_updater::Updater> diagnostics);
  virtual ~SickLDMRS();
  void init();
  void produce_diagnostics(diagnostic_updater::DiagnosticStatusWrapper &stat);
  void validate_config(SickLDMRSDriverConfig &conf);
  void update_config(SickLDMRSDriverConfig &new_config, uint32_t level = 0);
  void pubObjects(datatypes::ObjectList &objects);

protected:
  boost::shared_ptr<diagnostic_updater::Updater> diagnostics_;
  void setData(BasicData& data);  // Callback for new data from the manager (scans etc.)
  void validate_flexres_resolution(int &res);
  void validate_flexres_start_angle(double &angle1, double &angle2);
  bool isUpsideDown();
  void printFlexResError();
  std::string flexres_err_to_string(const UINT32 code) const;

private:
  // ROS
  ros::NodeHandle nh_;
  ros::Publisher pub_;
  ros::Publisher object_pub_;
  // Diagnostics
  diagnostic_updater::DiagnosedPublisher<sensor_msgs::PointCloud2>* diagnosticPub_;

  // Dynamic Reconfigure
  SickLDMRSDriverConfig config_;
  dynamic_reconfigure::Server<SickLDMRSDriverConfig> dynamic_reconfigure_server_;

  // sick_ldmrs library objects
  Manager* manager_;

  // Expected scan frequency. Must be a member variable for access by diagnostics.
  double expected_frequency_;

  bool initialized_;
};

} /* namespace sick_ldmrs_driver */
#endif /* SICK_LDMRS800001S01_H_ */