CscLidarEngineRplidar.h

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//
//  CscLidarEngineRplidar.hpp
//  ConscienceRobotManager
//
//  Created by Ilies Zaoui on 26/05/2020.
//  Copyright © 2020 Conscience Robotics. All rights reserved.
//
 
#include "Util/os.h"
#if CSC_OS_WINDOWS != 1
 
#ifndef CscLidarEngineRplidar_h
#define CscLidarEngineRplidar_h
 
#include "CscCommon.h"
#include "Lidar/CscLidarEngine.h"
#include "Simulator/CscEnvironmentSimulator.h"
#include "rplidar.h"
#include <thread>
 
using std::string;
using namespace rp::standalone::rplidar;
namespace this_thread = std::this_thread;
 
namespace conscience_core::lidar {
 
class CscLidarEngineRplidar : public CscLidarEngine {
public:
    CscLidarEngineRplidar(const string &devicePath,
                          const string &entitySerialNumber,
                          CscEnvironmentSimulator &globalEnvironmentSimulator);
    ~CscLidarEngineRplidar();
    void startEngine() override;
    void stopEngine() override;
    void updateValues();
    bool alive = true;
 
private:
    CscEnvironmentSimulator &globalEnvironmentSimulator;
    const string devicePath;
    const string entitySerialNumber;
    RPlidarDriver *drv = NULL;
    void initThread();
    pthread_t updateValuesThread;
};
 
}
 
#endif
 
#endif