23#ifndef _PLUGINS_LASER_SICK_TIM55X_COMMON_AQT_H_
24#define _PLUGINS_LASER_SICK_TIM55X_COMMON_AQT_H_
26#include "acquisition_thread.h"
28#include <config/change_handler.h>
52 void parse_datagram(
const unsigned char *datagram,
size_t datagram_length);
60 virtual void config_tag_changed(
const char *new_tag){};
63 virtual void config_value_erased(
const char *path);
67 float cfg_time_offset_;
76 unsigned int expected_num_data_;
Laser acqusition thread for Sick TiM55x laser range finders.
SickTiM55xCommonAcquisitionThread(std::string &cfg_name, std::string &cfg_prefix)
Constructor.
void read_common_config()
Read common configuration parameters.
std::string cfg_name_
Name of the particular configuration instance.
virtual void close_device()=0
Close the device.
virtual void open_device()=0
Open the device.
void resync()
Resynchronize to laser data.
std::string cfg_prefix_
Configuration path prefix for this configuration.
virtual void flush_device()=0
Flush the device.
void init_device()
Initialize device.
virtual void send_with_reply(const char *request, std::string *reply=NULL)=0
Send a request and expect a reply.
virtual ~SickTiM55xCommonAcquisitionThread()
Destructor.
std::string dev_model_
Device model type as string.
virtual void pre_init(fawkes::Configuration *config, fawkes::Logger *logger)
Pre initialization.
void parse_datagram(const unsigned char *datagram, size_t datagram_length)
Parse incoming message from device.
Configuration * config
This is the Configuration member used to access the configuration.
Interface for configuration change handling.
Iterator interface to iterate over config values.
Interface for configuration handling.
Logger * logger
This is the Logger member used to access the logger.
Fawkes library namespace.