modularization/src/driver/driver_lidar_bk_16z/common/ioapi.h

/* -*- mode: C++ -*-
 *  All right reserved, Sure_star Coop.
 *  @Technic Support: <sdk@isurestar.com>
 *  $Id$
 */

#ifndef _RFANS_IOAPI_H_
#define _RFANS_IOAPI_H_

#include <unistd.h>
#include <stdio.h>

#include <netinet/in.h>
//#include <starros/Packet.h>
//#include <pcap.h>
#include <unistd.h>
#include <sys/socket.h>
#include <arpa/inet.h>
#include <poll.h>
#include <errno.h>
#include <fcntl.h>
#include <sys/file.h>

#include <string>
#include <sstream>

//#include <sensor_msgs/PointCloud2.h>

#include "ssFrameLib.h"

class SSBufferDec;
namespace rfans_driver
{
  /** @brief Rfans IOAPI base class */
  static uint16_t DATA_PORT_NUMBER = 2014;
  class IOAPI
  {
  public:
    IOAPI();
    ~IOAPI();

    /** @brief Read one Rfans packet.
     *
     * @param packet from Rfans
     *
     * @returns 0 if successful,
     *          -1 if end of file
     *          > 0 if incomplete packet (is this possible?)
     */
    /** @brief Write . */
    virtual int write(unsigned char *data, int size) = 0;

    /** @brief read . */
    virtual int read(unsigned char *data, int size) = 0;

    /** @brief reset . */
    virtual int reset() = 0;

    virtual int HW_WRREG(int flag, int regAddress, unsigned int regData);

  protected:
    SSBufferDec *m_bufferPro;
  };

  ////////////////////////////////////////////////////////////////////////
  // InputSocket class implementation
  ////////////////////////////////////////////////////////////////////////
  /** @brief Rfans IOAPI from socket. */
  class IOSocketAPI : public IOAPI
  {
  public:
    IOSocketAPI(std::string ipstr = DEVICE_IP_STRING,
                uint16_t devport = DEVICE_PORT_NUMBER,
                int16_t pcport = PC_PORT_NUMBER);
    virtual ~IOSocketAPI();
    virtual int write(unsigned char *data, int size);
    virtual int read(unsigned char *data, int size);
    virtual int reset();

  private:
    int m_sockfd;
    in_addr devip_;
    sockaddr_in m_devaddr;

//    ros::NodeHandle private_nh_;
    uint16_t m_devport_;
    uint16_t m_pcport_;
    std::string devip_str_;
  };

}
#endif