sensor.h

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#ifndef SENSOR_H
#define SENSOR_H

#include <dynamic_reconfigure/server.h>
#include <ros/ros.h>
#include <boost/thread/recursive_mutex.hpp>

#include <toposens_driver/TsDriverConfig.h>
#include <toposens_driver/serial.h>
#include <toposens_msgs/TsScan.h>

namespace toposens_driver
{
static const char kScansTopic[] = "ts_scans";
static const int kQueueSize = 100;

class Sensor
{
public:
  enum ScanMode
  {
    ScanContinuously,
    ScanOnce,
    ListenOnce
  };

  Sensor(ros::NodeHandle nh, ros::NodeHandle private_nh);

  Sensor(ros::NodeHandle nh, ros::NodeHandle private_nh, std::string port, std::string frame_id);

  ~Sensor() {}

  void setMode(ScanMode scan_mode);

  bool poll(void);

  void shutdown(void);

private:
  typedef dynamic_reconfigure::Server<TsDriverConfig> Cfg;

  void _init(void);

  void _reconfig(TsDriverConfig &cfg, uint32_t level);

  void _parse(const std::string &frame);

  bool _evaluateAck(Command &cmd, const std::string &frame);

  Command *_parseAck(const std::string &data);

  void _updateConfig(TsParam param, int value);

  void _synchronizeParameterValues();

  void _displayFirmwareVersion();

  float _toNum(auto &i);

  std::string _frame_id;        
  TsDriverConfig _cfg;          
  std::unique_ptr<Cfg> _srv;    
  boost::recursive_mutex mutex; 
  ros::Publisher _pub;             
  std::unique_ptr<Serial> _serial; 
  std::stringstream _buffer;       
  toposens_msgs::TsScan _scan;
};

}  // namespace toposens_driver

#endif