.. _program_listing_file_include_LMS1xx_LMS1xx_node.hpp:

Program Listing for File LMS1xx_node.hpp
========================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_LMS1xx_LMS1xx_node.hpp>` (``include/LMS1xx/LMS1xx_node.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   #pragma once
   
   #include "LMS1xx/LMS1xx.h"
   
   #include <chrono>
   #include <memory>
   #include <string>
   
   #include "laser_geometry/laser_geometry.hpp"
   #include "rclcpp/rclcpp.hpp"
   #include "sensor_msgs/msg/imu.hpp"
   #include "sensor_msgs/msg/laser_scan.hpp"
   #include "sensor_msgs/msg/point_cloud2.hpp"
   #include "std_msgs/msg/header.hpp"
   #include "tf2/exceptions.h"
   #include "tf2_ros/buffer.h"
   #include "tf2_ros/transform_listener.h"
   
   
   namespace LMS1xx_node
   {
   
   enum LMS1xxNodeState
   {
     CONNECTING = 0,
     TIMEOUT = 1,
     MEASURING = 2,
     ERROR = 3
   };
   
   static constexpr auto MAX_CONNECT_ATTEMPTS = 100;
   
   class LMS1xx_node : public rclcpp::Node
   {
     public:
     explicit LMS1xx_node();
   
     private:
     // Node state
     LMS1xxNodeState state_;
     rclcpp::TimerBase::SharedPtr spin_timer_;
     rclcpp::TimerBase::SharedPtr timeout_timer_;
     bool timed_out_;
   
     // laser data
     LMS1xx laser_;
     scanCfg cfg_;
     scanOutputRange outputRange_;
     scanDataCfg dataCfg_;
   
     // parameters
     std::string host_;
     std::string frame_id_;
     int port_;
     bool inf_range_;
     int reconnect_timeout_{0};
     sensor_msgs::msg::LaserScan scan_msg_;
   
     // publishers
     rclcpp::Publisher<sensor_msgs::msg::LaserScan>::SharedPtr laserscan_pub_;
   
     bool connect_lidar();
   
     void construct_scan();
   
     bool get_measurements();
   
     void start_measurements();
   
     void stop_measurements();
   
     void publish_scan(scanData& data);
   
     void publish_cloud();
   
     void spin_once();
   };
   
   }  // namespace LMS1xx_node