.. _program_listing_file__tmp_ws_src_rt_usb_9axisimu_driver_include_rt_usb_9axisimu_driver_rt_usb_9axisimu_driver.hpp:

Program Listing for File rt_usb_9axisimu_driver.hpp
===================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rt_usb_9axisimu_driver_include_rt_usb_9axisimu_driver_rt_usb_9axisimu_driver.hpp>` (``/tmp/ws/src/rt_usb_9axisimu_driver/include/rt_usb_9axisimu_driver/rt_usb_9axisimu_driver.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * rt_usb_9axisimu_driver.hpp
    *
    * License: BSD-3-Clause
    *
    * Copyright (c) 2015-2020 RT Corporation <support@rt-net.jp>
    * All rights reserved.
    *
    * Redistribution and use in source and binary forms, with or without
    * modification, are permitted provided that the following conditions are met:
    *
    * 1. Redistributions of source code must retain the above copyright notice,
    *    this list of conditions and the following disclaimer.
    * 2. 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.
    * 3. Neither the name of RT Corporation 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 OWNER 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 RT_USB_9AXISIMU_DRIVER__RT_USB_9AXISIMU_DRIVER_HPP_
   #define RT_USB_9AXISIMU_DRIVER__RT_USB_9AXISIMU_DRIVER_HPP_
   
   #include <memory>
   #include <string>
   #include <vector>
   
   #include "rt_usb_9axisimu_driver/rt_usb_9axisimu.hpp"
   #include "rclcpp/time.hpp"
   #include "sensor_msgs/msg/imu.hpp"
   #include "sensor_msgs/msg/magnetic_field.hpp"
   #include "std_msgs/msg/float64.hpp"
   
   class RtUsb9axisimuRosDriver : public rt_usb_9axisimu::SerialPort
   {
   private:
     // ros::NodeHandle nh_;
   
     // ros::Publisher imu_data_raw_pub_;
     // ros::Publisher imu_mag_pub_;
     // ros::Publisher imu_temperature_pub_;
   
     rt_usb_9axisimu::SensorData sensor_data_;
   
     std::string frame_id_;
     double linear_acceleration_stddev_;
     double angular_velocity_stddev_;
     double magnetic_field_stddev_;
     rt_usb_9axisimu::Consts consts;
   
     enum DataFormat
     {
       NONE = 0,
       NOT_BINARY,
       BINARY,
       NOT_ASCII,
       ASCII,
       INCORRECT
     };
     bool has_completed_format_check_;
     DataFormat data_format_;
     bool has_refreshed_imu_data_;
   
     // Method to combine two separate one-byte data into one two-byte data
     int16_t combineByteData(unsigned char data_h, unsigned char data_l);
     // Method to extract binary sensor data from communication buffer
     rt_usb_9axisimu::ImuData<int16_t> extractBinarySensorData(unsigned char * imu_data_buf);
     bool isBinarySensorData(unsigned char * imu_data_buf);
     bool readBinaryData(void);
     bool isValidAsciiSensorData(std::vector<std::string> imu_data_vector_buf);
     bool readAsciiData(void);
   
   public:
     explicit RtUsb9axisimuRosDriver(std::string serialport);
     ~RtUsb9axisimuRosDriver();
   
     void setImuFrameIdName(std::string frame_id);
     void setImuPortName(std::string port);
     void setImuStdDev(double linear_acceleration, double angular_velocity, double magnetic_field);
   
     bool startCommunication();
     void stopCommunication(void);
     void checkDataFormat(void);
     bool hasCompletedFormatCheck(void);
     bool hasAsciiDataFormat(void);
     bool hasBinaryDataFormat(void);
     bool hasRefreshedImuData(void);
   
     std::unique_ptr<sensor_msgs::msg::Imu> getImuRawDataUniquePtr(const rclcpp::Time timestamp);
     std::unique_ptr<sensor_msgs::msg::MagneticField> getImuMagUniquePtr(const rclcpp::Time timestamp);
     std::unique_ptr<std_msgs::msg::Float64> getImuTemperatureUniquePtr(void);
     bool readSensorData();
   };
   
   #endif  // RT_USB_9AXISIMU_DRIVER__RT_USB_9AXISIMU_DRIVER_HPP_