Class MsgPackConverter

Defined in File msgpack_converter.h

Class Documentation

class MsgPackConverter

Public Functions

MsgPackConverter()

MsgPackConverter(const ScanSegmentParserConfig &parser_config, const sick_scan_xd::SickCloudTransform &add_transform_xyz_rpy, sick_scansegment_xd::PayloadFifo *input_fifo, int scandataformat = 2, int msgpack_output_fifolength = 20, bool verbose = false)

~MsgPackConverter()

bool Start(void)

void Close(void)

void SetValidator(sick_scansegment_xd::MsgPackValidator &msgpack_validator, bool msgpack_validator_enabled, bool discard_msgpacks_not_validated, int msgpack_validator_check_missing_scandata_interval)

inline sick_scansegment_xd::Fifo<ScanSegmentParserOutput> *Fifo(void)

Protected Functions

bool Run(void)

Protected Attributes

bool m_verbose

ScanSegmentParserConfig m_parser_config

PayloadFifo *m_input_fifo

int m_scandataformat

sick_scansegment_xd::Fifo<ScanSegmentParserOutput> *m_output_fifo

std::thread *m_converter_thread

bool m_run_converter_thread

bool m_msgpack_validator_enabled

sick_scansegment_xd::MsgPackValidator m_msgpack_validator

bool m_discard_msgpacks_not_validated

int m_msgpack_validator_check_missing_scandata_interval

sick_scan_xd::SickCloudTransform m_add_transform_xyz_rpy