scanner_ids.h

Go to the documentation of this file.

// Copyright (c) 2020-2021 Pilz GmbH & Co. KG
//
// This program is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <https://www.gnu.org/licenses/>.
 
#ifndef PSEN_SCAN_V2_STANDALONE_SCANNER_IDS_H
#define PSEN_SCAN_V2_STANDALONE_SCANNER_IDS_H
 
#include <array>
#include <map>
#include <string>
 
namespace psen_scan_v2_standalone
{
namespace configuration
{
enum class ScannerId : uint8_t
{
  master = 0,
  subscriber0 = 1,  // Note: This refers to the scanner type subscriber, *not* a ros subscriber
  subscriber1 = 2,
  subscriber2 = 3
};
 
static constexpr std::array<ScannerId, 4> VALID_SCANNER_IDS{ ScannerId::master,
                                                             ScannerId::subscriber0,
                                                             ScannerId::subscriber1,
                                                             ScannerId::subscriber2 };
 
static const int MAX_NR_SUBSCRIBERS = VALID_SCANNER_IDS.size() - 1;  // all but the master
 
static inline ScannerId subscriber_number_to_scanner_id(uint8_t nr)
{
  return VALID_SCANNER_IDS.at(nr + 1);
}
 
static const std::map<ScannerId, std::string> SCANNER_ID_TO_STRING{ { ScannerId::master, "Master" },
                                                                    { ScannerId::subscriber0, "Subscriber0" },
                                                                    { ScannerId::subscriber1, "Subscriber1" },
                                                                    { ScannerId::subscriber2, "Subscriber2" } };
 
}  // namespace configuration
}  // namespace psen_scan_v2_standalone
 
#endif  // PSEN_SCAN_V2_STANDALONE_SCANNER_IDS_H