laser.h

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/*
* Copyright (c) 2022, Autonics Co.,Ltd.
* 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.
*
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*     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
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* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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*/
 
 
 
#ifndef LASER_H
#define LASER_H
 
#include <ros/ros.h>
#include "std_msgs/String.h"
#include <sensor_msgs/LaserScan.h>
 
#include <diagnostic_updater/diagnostic_updater.h>
#include <diagnostic_updater/publisher.h>
 
#include "socket.hpp"
#include "parser.hpp"
 
#define CONNECT_ATTEMPT_CNT 999
 
class AutoLaser
{
public:
    AutoLaser();
    ~AutoLaser();
 
    int laserInit(void);
    int run(void);
 
 
private:
    bool checkConnection();
 
    void watchingDisconnection(void);
    std::string itostr(int i);
    std::string ftostr(float i);
    unsigned char hexToChar(unsigned int value);
 
    int laserSendCommand(const std::string str);
    int getLaserData(sensor_msgs::LaserScan::Ptr scan_msg);
    void comSubCallback(const std_msgs::String::ConstPtr& msg);
    void selfTest(diagnostic_updater::DiagnosticStatusWrapper& status);
    int getLscData(void);
    void login(std::string password);
 
    ros::NodeHandle n;
    ros::NodeHandle priv_nh;
    diagnostic_updater::Updater diagnostic_topic_updater;
 
    Socket socket;
    Parser p;
 
    ros::Publisher pub_scan;
    ros::Subscriber sub_cmd;
 
    sensor_msgs::LaserScan::Ptr scan_msg;
    Lsc_t lsc;
 
    bool rcv_msg_flag_;
    std::vector<unsigned char> rcv_msg_;
 
    std::string topic_name;
};
 
#endif