parser.hpp
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34 
35 
36 #ifndef PARSER_H
37 #define PARSER_H
38 
39 #include <sensor_msgs/LaserScan.h>
40 
41 //#define PRINT_PARSE_DATA
42 
43 #define PI 3.14159265358979323846
44 #define DEG2RAD PI / 180
45 
46 struct ScanInfo
47 {
48  uint16_t fw_ver;
49  std::string model_name;
50 };
51 
52 struct ScanMea
53 {
54  uint16_t scan_counter;
55  uint16_t scan_freq;
56  uint16_t meas_freq;
57  int32_t angle_begin;
58  uint16_t angle_resol;
59  uint16_t amnt_of_data;
60  uint16_t active_field_num;
61 };
62 
63 struct Lsc_t
64 {
65  ScanMea scan_mea;
66  ScanInfo scan_info;
67 };
68 
69 class Parser
70 {
71 public:
72  Parser();
73 
74  void parsingMsg(std::vector<unsigned char> raw_msg, sensor_msgs::LaserScan::Ptr msg, Lsc_t* lsc);
75  int makeCommand(unsigned char* buf, std::string cmd);
76 };
77 
78 #endif
ScanInfo::fw_ver
uint16_t fw_ver
Definition: parser.hpp:48
msg
msg
Lsc_t::scan_info
ScanInfo scan_info
Definition: parser.hpp:66
ScanMea
Definition: parser.hpp:52
ScanMea::amnt_of_data
uint16_t amnt_of_data
Definition: parser.hpp:59
ScanMea::meas_freq
uint16_t meas_freq
Definition: parser.hpp:56
ScanMea::scan_counter
uint16_t scan_counter
Definition: parser.hpp:54
ScanMea::scan_freq
uint16_t scan_freq
Definition: parser.hpp:55
ScanMea::angle_begin
int32_t angle_begin
Definition: parser.hpp:57
Parser::parsingMsg
void parsingMsg(std::vector< unsigned char > raw_msg, sensor_msgs::LaserScan::Ptr msg, Lsc_t *lsc)
Definition: parser.cpp:144
ScanMea::angle_resol
uint16_t angle_resol
Definition: parser.hpp:58
Lsc_t::scan_mea
ScanMea scan_mea
Definition: parser.hpp:65
ScanMea::active_field_num
uint16_t active_field_num
Definition: parser.hpp:60
Parser::Parser
Parser()
Definition: parser.cpp:76
Parser
Definition: parser.hpp:69
Lsc_t
Definition: parser.hpp:63
Parser::makeCommand
int makeCommand(unsigned char *buf, std::string cmd)
Definition: parser.cpp:81
ScanInfo
Definition: parser.hpp:46
ScanInfo::model_name
std::string model_name
Definition: parser.hpp:49

lsc_ros_driver
Author(s): Autonics-lidar
autogenerated on Sat Jan 14 2023 03:18:24