CYdLidar.h

#pragma once
#include "utils.h"
#include "ydlidar_driver.h"
#include <math.h>


#define PropertyBuilderByName(type, name, access_permission)\
    access_permission:\
        type m_##name;\
    public:\
    inline void set##name(type v) {\
        m_##name = v;\
    }\
    inline type get##name() {\
        return m_##name;\
}\


using namespace ydlidar;

class YDLIDAR_API CYdLidar {
  PropertyBuilderByName(float, MaxRange,
                        private) 
  PropertyBuilderByName(float, MinRange,
                        private) 
  PropertyBuilderByName(float, MaxAngle,
                        private) 
  PropertyBuilderByName(float, MinAngle,
                        private) 
  PropertyBuilderByName(float, OffsetTime, private)

  PropertyBuilderByName(bool, FixedResolution,
                        private) 
  PropertyBuilderByName(bool, Reversion,
                        private) 
  PropertyBuilderByName(bool, AutoReconnect,
                        private) 
  PropertyBuilderByName(bool, GlassNoise,
                        private) 
  PropertyBuilderByName(bool, SunNoise, private) 

  PropertyBuilderByName(int, SerialBaudrate,
                        private) 
  PropertyBuilderByName(std::string, SerialPort,
                        private) 
  PropertyBuilderByName(std::vector<float>, IgnoreArray,
                        private) 
  PropertyBuilderByName(int, AbnormalCheckCount,
                        private) 


 public:
  CYdLidar(); 
  virtual ~CYdLidar();  

  bool initialize();  

  // Return true if laser data acquistion succeeds, If it's not
  bool doProcessSimple(LaserScan &scan_msg, bool &hardwareError);

  //Turn on the motor enable
  bool  turnOn();  
  //Turn off the motor enable and close the scan
  bool  turnOff(); 

  //get fixed resolution node size
  int getFixedSize() const;

  bool getDeviceHealth() const;

  bool getDeviceInfo(int &type);

  bool checkHeartBeat() const;

  bool checkScanFrequency();

  //Turn off lidar connection
  void disconnecting(); 

 protected:
  bool  checkCOMMs();

  bool  checkStatus();

  bool checkHardware();

  bool checkLidarAbnormal();



 private:
  bool isScanning;
  bool isConnected;
  YDlidarDriver *lidarPtr;

  uint32_t m_pointTime;
  uint64_t last_node_time;
  int m_FixedSize;

};  // End of class