.. _program_listing_file__tmp_ws_src_smacc2_smacc2_sm_reference_library_sm_dance_bot_strikes_back_include_sm_dance_bot_strikes_back_clients_cl_lidar_components_cp_lidar_data.hpp:

Program Listing for File cp_lidar_data.hpp
==========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_smacc2_smacc2_sm_reference_library_sm_dance_bot_strikes_back_include_sm_dance_bot_strikes_back_clients_cl_lidar_components_cp_lidar_data.hpp>` (``/tmp/ws/src/smacc2/smacc2_sm_reference_library/sm_dance_bot_strikes_back/include/sm_dance_bot_strikes_back/clients/cl_lidar/components/cp_lidar_data.hpp``)

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

.. code-block:: cpp

   // Copyright 2021 RobosoftAI Inc.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   /*****************************************************************************************************************
    *
    *   Authors: Pablo Inigo Blasco, Brett Aldrich
    *
    ******************************************************************************************************************/
   
   #include <smacc2/smacc.hpp>
   
   namespace sm_dance_bot_strikes_back
   {
   namespace cl_lidar
   {
   using namespace std::chrono_literals;
   
   class CpLidarSensorData : public smacc2::ISmaccComponent
   {
   public:
     sensor_msgs::msg::LaserScan lastMessage_;
     float forwardObstacleDistance;
   
     const float SECURITY_DISTANCE = 1;  // meters
   
     void onInitialize() override
     {
       auto client_ =
         dynamic_cast<smacc2::client_bases::SmaccSubscriberClient<sensor_msgs::msg::LaserScan> *>(
           owner_);
       client_->onMessageReceived(&CpLidarSensorData::MessageCallbackStoreDistanceToWall, this);
     }
   
     void MessageCallbackStoreDistanceToWall(const sensor_msgs::msg::LaserScan & scanmsg)
     {
       this->lastMessage_ = scanmsg;
       //auto fwdist = scanmsg.ranges[scanmsg.ranges.size() / 2] /*meter*/;
       auto fwdist = scanmsg.ranges[0] /*meter*/;
   
       /*if the distance is infinity or nan, use max range distance*/
       if (fwdist == std::numeric_limits<float>::infinity() || fwdist != fwdist)
       {
         this->forwardObstacleDistance = scanmsg.range_max - SECURITY_DISTANCE /*meters*/;
         RCLCPP_INFO_THROTTLE(
           getLogger(), *(getNode()->get_clock()), 1000,
           "[CpLidarSensorData] Distance to forward obstacle is not a number, setting default value "
           "to: %lf",
           scanmsg.range_max);
       }
       else
       {
         this->forwardObstacleDistance = std::max(fwdist - SECURITY_DISTANCE, 0.0F);
       }
     }
   };
   }  // namespace cl_lidar
   }  // namespace sm_dance_bot_strikes_back