/* -*- mode: C++ -*- */
/*
 *  Copyright (C) 2012 Austin Robot Technology, Jack O'Quin
 *	Copyright (C) 2017 Robosense, Tony Zhang
 *
 *  License: Modified BSD Software License Agreement
 *
 *  $Id$
 */

/** \file
 *
 *  ROS driver interface for the RSLIDAR 3D LIDARs
 */
#ifndef _RSDRIVER_H_
#define _RSDRIVER_H_

#include "input.h"
//#include <diagnostic_updater/diagnostic_updater.h>
//#include <diagnostic_updater/publisher.h>
//#include <dynamic_reconfigure/server.h>
//#include <pcl/point_types.h>
//#include <pcl_conversions/pcl_conversions.h>
//#include <pcl_ros/impl/transforms.hpp>
//#include <ros/package.h>
//#include <ros/ros.h>
//#include <rslidar_driver/rslidarNodeConfig.h>
#include <string>

#include "boost/thread.hpp"

namespace rs_driver {

struct lidarscan
{
    double stamp;
    std::string frame_id;
    std::vector<m1packet> packets;

};

class rslidarDriver {
public:
  /**
 * @brief rslidarDriver
 * @param node          raw packet output topic
 * @param private_nh    通过这个节点传参数
 */
//  rslidarDriver(ros::NodeHandle node, ros::NodeHandle private_nh);
  rslidarDriver();

  ~rslidarDriver() {}

  bool poll(std::shared_ptr<lidarscan> & rawscan);
  void difopPoll(void);

private:
 /// Callback for dynamic reconfigure
//  void callback(rslidar_driver::rslidarNodeConfig &config, uint32_t level);

//  /// Pointer to dynamic reconfigure service srv_
//  boost::shared_ptr<
//      dynamic_reconfigure::Server<rslidar_driver::rslidarNodeConfig>>
//      srv_;

  // configuration parameters
  struct {
    std::string frame_id; ///< tf frame ID
    std::string model;    ///< device model name
    int npackets;         ///< number of packets to collect
    double rpm;           ///< device rotation rate (RPMs)
    double time_offset;   ///< time in seconds added to each  time stamp
    bool start_from_edge;
  } config_;

  boost::shared_ptr<Input> msop_input_;
  boost::shared_ptr<Input> difop_input_;
//  ros::Publisher msop_output_;
//  ros::Publisher difop_output_;
  boost::shared_ptr<boost::thread> difop_thread_;

  // Converter convtor_;
  /** diagnostics updater */
//  diagnostic_updater::Updater diagnostics_;
//  double diag_min_freq_;
//  double diag_max_freq_;
//  boost::shared_ptr<diagnostic_updater::TopicDiagnostic> diag_topic_;
};

} // namespace rs_driver

#endif