sick_tim_common_mockup.h
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1 /*
2  * Copyright (C) 2015, Osnabrück University
3  * All rights reserved.
4  *
5  * Redistribution and use in source and binary forms, with or without
6  * modification, are permitted provided that the following conditions are met:
7  *
8  * * Redistributions of source code must retain the above copyright
9  * notice, this list of conditions and the following disclaimer.
10  * * Redistributions in binary form must reproduce the above copyright
11  * notice, this list of conditions and the following disclaimer in the
12  * documentation and/or other materials provided with the distribution.
13  * * Neither the name of Osnabrück University nor the names of its
14  * contributors may be used to endorse or promote products derived from
15  * this software without specific prior written permission.
16  *
17  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
18  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
19  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
20  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
21  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
22  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
23  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
24  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
25  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
26  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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28  *
29  * Created on: 30.01.2015
30  *
31  * Author:
32  * Martin Günther <mguenthe@uos.de>
33  *
34  */
35 
36 #ifndef SICK_TIM3XX_COMMON_MOCKUP_H_
37 #define SICK_TIM3XX_COMMON_MOCKUP_H_
38 
39 #include <stdio.h>
40 #include <stdlib.h>
41 #include <string.h>
42 #include <libusb.h>
43 
44 #include <std_msgs/String.h>
45 
46 #include "sick_tim_common.h"
47 
48 namespace sick_tim
49 {
50 
52 {
53 public:
55  virtual ~SickTimCommonMockup();
56 
57 protected:
58  virtual int init_device();
59  virtual int init_scanner();
60  virtual int close_device();
61 
63  virtual int sendSOPASCommand(const char* request, std::vector<unsigned char> * reply);
64 
66 
71  virtual int get_datagram(unsigned char* receiveBuffer, int bufferSize, int* actual_length);
72 
73 private:
75 
76  // subscriber to "datagram" topic
78 
79  std_msgs::String::ConstPtr datagram_msg_;
80 
81  void datagramCB(const std_msgs::String::ConstPtr &msg);
82 };
83 
84 } /* namespace sick_tim */
85 #endif /* SICK_TIM3XX_COMMON_MOCKUP_H_ */
SickTimCommonMockup(AbstractParser *parser)
virtual int sendSOPASCommand(const char *request, std::vector< unsigned char > *reply)
Send a SOPAS command to the device and print out the response to the console.
void datagramCB(const std_msgs::String::ConstPtr &msg)
virtual int get_datagram(unsigned char *receiveBuffer, int bufferSize, int *actual_length)
Read a datagram from the device.
std_msgs::String::ConstPtr datagram_msg_
parser


sick_tim
Author(s): Jochen Sprickerhof , Martin Günther , Sebastian Pütz
autogenerated on Wed Jun 17 2020 04:05:36