Program Listing for File autolidar.hpp
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#ifndef AUTOLIDAR_HPP
#define AUTOLIDAR_HPP
#include <rclcpp/rclcpp.hpp>
#include <rclcpp/node.hpp>
#include <rclcpp/publisher.hpp>
#include <sensor_msgs/msg/laser_scan.hpp>
#include "socket.hpp"
#include "parser.hpp"
#define USE_DIAGNOSTICS
#define RESPONS_WAIT_CNT 20
#define RECONNECT_TRY_COUNT 999
#ifdef USE_DIAGNOSTICS
#include "diagnostic_updater/diagnostic_updater.hpp"
#include "diagnostic_updater/publisher.hpp"
#endif
class Autolidar : public rclcpp::Node
{
public:
explicit Autolidar();
virtual ~Autolidar();
int init();
int get_response(std::string cmd);
int8_t send_command(std::string cmd);
void setCommType(std::shared_ptr<Communication> comm_type);
void setParser(std::shared_ptr<Parser> parser);
private:
void run();
void publish_laserscan(std::shared_ptr<sensor_msgs::msg::LaserScan> msg, std::shared_ptr<Lsc_t> lsc);
unsigned char itohascii(unsigned char input);
int makeCommand(std::vector<unsigned char>& v_cmd_frame, std::string cmd);
template<typename T>
bool declearParam(std::string name, T value);
#ifdef USE_DIAGNOSTICS
void diagnostic_update(void);
void check_connection(diagnostic_updater::DiagnosticStatusWrapper & stat);
diagnostic_updater::Updater diagnostic_updater_laser_;
std::unique_ptr<diagnostic_updater::HeaderlessTopicDiagnostic> scan_pub_freq_;
double min_freq_;
double max_freq_;
#endif
std::shared_ptr<Communication> comm_;
std::shared_ptr<Parser> parser_;
std::shared_ptr<sensor_msgs::msg::LaserScan> scan_msg_;
std::shared_ptr<Lsc_t> lsc_;
rcl_interfaces::msg::SetParametersResult param_callback(const std::vector<rclcpp::Parameter> ¶meters);
OnSetParametersCallbackHandle::SharedPtr param_callback_;
rclcpp::Publisher<sensor_msgs::msg::LaserScan>::SharedPtr laser_topic_publisher_;
rclcpp::TimerBase::SharedPtr pub_timer_;
std::string ip_addr, frame_id, pub_topic;
uint16_t port_number;
int diagnostics_windows_time;
float angle_min, angle_max;
double range_min, range_max, diagnostics_tolerance;
bool intensities;
bool diagnostic_param_setting;
};
#endif