agv_ros_ws/laser_h1/include/free_lidar/c2_uart_driver.h

#ifndef C2_UART_DRIVER_H_
#define C2_UART_DRIVER_H_

#include <free_lidar/lidar_struct.h>
#include <free_lidar/lidar_driver.h>
#include <serial/serial.h>
#include <string>
#include <deque>
#include <stdint.h>

#define C2_UART_ROS_VER         "2.00.00.008"

const uint32_t baudrate[3] = {460800, 921600, 1500000};

namespace free_optics{

class C2UartDriver : public LidarDriver
{
public:
    C2UartDriver();
    ~C2UartDriver();

    bool connect(const std::string portname);

    void disconnect();

    bool getBaudrate();

    bool getDeviceState(uint8_t &state);

    bool getDeviceName(std::string &name);

    bool getFirmwareVersion(uint32_t &version);

    bool getSerialNumber(uint32_t &sn);

    bool login(uint8_t &state);

    bool getScanAngle(int32_t &start_angle, int32_t &stop_angle);

    bool setScanAngle(int32_t start_angle, int32_t stop_angle);

    bool setScanConfig(uint16_t frequency, uint16_t resolution);

    bool getMeasureRange(float &range_min, float &range_max);

    bool getScanData(uint8_t state);

    bool scanDataReceiver();

private:
    serial::Serial sp_;

};

}

#endif