ParseMeasurementData.h

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// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-

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// -- END LICENSE BLOCK ------------------------------------------------

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#ifndef SICK_SAFETYSCANNERS_DATA_PROCESSING_PARSEMEASUREMENTDATA_H
#define SICK_SAFETYSCANNERS_DATA_PROCESSING_PARSEMEASUREMENTDATA_H

#include <sick_safetyscanners/datastructure/Data.h>
#include <sick_safetyscanners/datastructure/MeasurementData.h>
#include <sick_safetyscanners/datastructure/PacketBuffer.h>

#include <sick_safetyscanners/data_processing/ReadWriteHelper.hpp>

#include <ros/ros.h>
#include <string>
#include <vector>

namespace sick {
namespace data_processing {

class ParseMeasurementData
{
public:
  ParseMeasurementData();

  datastructure::MeasurementData parseUDPSequence(const datastructure::PacketBuffer& buffer,
                                                  datastructure::Data& data);

private:
  float m_angle;
  float m_angle_delta;
  void setDataInMeasurementData(std::vector<uint8_t>::const_iterator data_ptr,
                                datastructure::MeasurementData& measurement_data);
  void setNumberOfBeamsInMeasurementData(std::vector<uint8_t>::const_iterator data_ptr,
                                         datastructure::MeasurementData& measurement_data) const;
  void setStartAngleAndDelta(const datastructure::Data& data);
  void setScanPointsInMeasurementData(std::vector<uint8_t>::const_iterator data_ptr,
                                      datastructure::MeasurementData& measurement_data);
  void addScanPointToMeasurementData(uint16_t offset,
                                     std::vector<uint8_t>::const_iterator data_ptr,
                                     datastructure::MeasurementData& measurement_data) const;
  bool checkIfPreconditionsAreMet(const datastructure::Data& data) const;
  bool checkIfMeasurementDataIsPublished(const datastructure::Data& data) const;
  bool checkIfDataContainsNeededParsedBlocks(const datastructure::Data& data) const;
};

} // namespace data_processing
} // namespace sick

#endif // SICK_SAFETYSCANNERS_DATA_PROCESSING_PARSEMEASUREMENTDATA_H