sensor.h

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#ifndef SENSOR_H
#define SENSOR_H
 
#include <dynamic_reconfigure/server.h>
#include <ros/ros.h>
#include <boost/thread/recursive_mutex.hpp>
 
#include <toposens_driver/TsDriverConfig.h>
#include <toposens_driver/serial.h>
#include <toposens_msgs/TsScan.h>
 
namespace toposens_driver
{
static const char kScansTopic[] = "ts_scans";
static const int kQueueSize = 100;
 
class Sensor
{
public:
  enum ScanMode
  {
    ScanContinuously,
    ScanOnce,
    ListenOnce
  };
 
  Sensor(ros::NodeHandle nh, ros::NodeHandle private_nh);
 
  Sensor(ros::NodeHandle nh, ros::NodeHandle private_nh, std::string port, std::string frame_id);
 
  ~Sensor() {}
 
  void setMode(ScanMode scan_mode);
 
  bool poll(void);
 
  void shutdown(void);
 
private:
  typedef dynamic_reconfigure::Server<TsDriverConfig> Cfg;
 
  void _init(void);
 
  void _reconfig(TsDriverConfig &cfg, uint32_t level);
 
  void _parse(const std::string &frame);
 
  bool _evaluateAck(Command &cmd, const std::string &frame);
 
  Command *_parseAck(const std::string &data);
 
  void _updateConfig(TsParam param, int value);
 
  void _synchronizeParameterValues();
 
  void _displayFirmwareVersion();
 
  float _toNum(auto &i);
 
  std::string _frame_id;        
  TsDriverConfig _cfg;          
  std::unique_ptr<Cfg> _srv;    
  boost::recursive_mutex mutex; 
  ros::Publisher _pub;             
  std::unique_ptr<Serial> _serial; 
  std::stringstream _buffer;       
  toposens_msgs::TsScan _scan;
};
 
}  // namespace toposens_driver
 
#endif