lfcd_lds2.h

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 /* Authors: SP Kong, Jeehoon Yang */
 /* maintainer: Jeehoon Yang */

#include <string>
#include <sensor_msgs/LaserScan.h>
#include <boost/asio.hpp>
#include <boost/array.hpp>

namespace hls_lfcd_lds2
{
class LFCDLaser
{
public:
        uint16_t rpms; 

        LFCDLaser(const std::string& port, uint32_t baud_rate, boost::asio::io_service& io);

        ~LFCDLaser();

        void poll(sensor_msgs::LaserScan::Ptr scan);

        void close() { shutting_down_ = true; }

private:
        std::string port_; 
        uint32_t baud_rate_; 
        bool shutting_down_; 
        boost::asio::serial_port serial_; 
        uint16_t motor_speed_; 
};
}