sick_safevisionary.h

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// -- BEGIN LICENSE BLOCK ----------------------------------------------
// -- END LICENSE BLOCK ------------------------------------------------
 
//----------------------------------------------------------------------
//----------------------------------------------------------------------
 
#ifndef SICK_SAFEVISIONARY_DRIVER_SICK_SAFEVISIONARY_H_INCLUDED
#define SICK_SAFEVISIONARY_DRIVER_SICK_SAFEVISIONARY_H_INCLUDED
 
#include <sick_safevisionary_base/SafeVisionaryData.h>
#include <sick_safevisionary_base/SafeVisionaryDataStream.h>
#include <sick_safevisionary_driver/compound_publisher.h>
 
#include <boost/lockfree/policies.hpp>
#include <boost/lockfree/spsc_queue.hpp>
#include <ros/ros.h>
#include <thread>
 
 
class SickSafeVisionary
{
public:
  SickSafeVisionary();
  virtual ~SickSafeVisionary(){};
  void run();
  void stop();
 
private:
  void receiveThread();
  void publishThread();
 
  CompoundPublisher compound_publisher_;
 
  std::shared_ptr<visionary::SafeVisionaryData> data_handle_;
  std::shared_ptr<visionary::SafeVisionaryDataStream> data_stream_;
 
  ros::NodeHandle priv_nh_;
  std::string frame_id_;
  int udp_port_;
  std::unique_ptr<std::thread> receive_thread_ptr_;
  std::unique_ptr<std::thread> publish_thread_ptr_;
  std::atomic<bool> data_available_;
 
  boost::lockfree::spsc_queue<visionary::SafeVisionaryData, boost::lockfree::capacity<10> >
    spsc_queue_;
};
 
#endif /* SICK_SAFEVISIONARY_DRIVER_SICK_SAFEVISIONARY_H_INCLUDED */