sick_tim_common_mockup.h
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00001 /*
00002  * Copyright (C) 2015, Osnabrück University
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of Osnabrück University nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  *
00029  *  Created on: 30.01.2015
00030  *
00031  *      Author:
00032  *         Martin Günther <mguenthe@uos.de>
00033  *
00034  */
00035 
00036 #ifndef SICK_TIM3XX_COMMON_MOCKUP_H_
00037 #define SICK_TIM3XX_COMMON_MOCKUP_H_
00038 
00039 #include <stdio.h>
00040 #include <stdlib.h>
00041 #include <string.h>
00042 #include <libusb.h>
00043 
00044 #include <std_msgs/String.h>
00045 
00046 #include <sick_tim/sick_tim_common.h>
00047 
00048 namespace sick_tim
00049 {
00050 
00051 class SickTimCommonMockup : public SickTimCommon
00052 {
00053 public:
00054   SickTimCommonMockup(AbstractParser* parser);
00055   virtual ~SickTimCommonMockup();
00056 
00057 protected:
00058   virtual int init_device();
00059   virtual int init_scanner();
00060   virtual int close_device();
00061 
00063   virtual int sendSOPASCommand(const char* request, std::vector<unsigned char> * reply);
00064 
00066 
00071   virtual int get_datagram(unsigned char* receiveBuffer, int bufferSize, int* actual_length);
00072 
00073 private:
00074   ros::NodeHandle nh_;
00075 
00076   // subscriber to "datagram" topic
00077   ros::Subscriber sub_;
00078 
00079   std_msgs::String::ConstPtr datagram_msg_;
00080 
00081   void datagramCB(const std_msgs::String::ConstPtr &msg);
00082 };
00083 
00084 } /* namespace sick_tim */
00085 #endif /* SICK_TIM3XX_COMMON_MOCKUP_H_ */


sick_tim
Author(s): Jochen Sprickerhof , Martin Günther
autogenerated on Thu Aug 27 2015 15:14:34