Program Listing for File parser.hpp

↰ Return to documentation for file (/tmp/ws/src/lsc_ros2_driver/include/lsc_ros2_driver/parser.hpp)

/*
* Copyright (c) 2022, Autonics Co.,Ltd.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*
*   * Neither the name of the Autonics Co.,Ltd nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/


#ifndef PARSER_HPP
#define PARSER_HPP

#include <vector>

// #define PRINT_PARSED_DATA

#define PI  3.14159265358979323846
#define DEG2RAD PI / 180

#define NUM_OF_CMD_TYPE 4
#define NUM_OF_CMD 7

#define NUMBER_OF_PARAM 13

enum CmdListNum
{
    NONE = 0,
    SET_ACCESS_LEVEL,
    SENSOR_SCAN_INFO,
    SENSOR_START,
    SENSOR_STOP,
    SCAN_DATA,
    FIRST_CONNECT_DUMMY_SEND
};


struct ScanInfo
{
    uint16_t fw_ver;
    std::string model_name;
};

struct ScanMea
{
    uint16_t scan_counter;
    uint16_t scan_freq;
    uint16_t meas_freq;
    int32_t angle_begin;
    uint16_t angle_resol;
    uint16_t amnt_of_data;
    uint16_t active_field_num;

    std::vector<float> ranges;
    std::vector<float> rssi;
};

struct Lsc_t
{
    ScanMea scan_mea;
    ScanInfo scan_info;
};


class Parser
{
  public:
    virtual void parsingMsg(std::vector<unsigned char> raw_msg, std::shared_ptr<Lsc_t> parsed_data) = 0;
    virtual std::string getResponse() = 0;
};

class AsciiParser : public Parser
{
  public:
    void parsingMsg(std::vector<unsigned char> raw_msg, std::shared_ptr<Lsc_t> parsed_data);
    std::string getResponse();

  private:
    std::string command_;
};


#endif