LaserScannerTimestampTest.h

Go to the documentation of this file.

/**
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    RobotComponents::ArmarXObjects::laser_scanner_timestamp_test
 * @author     Corvin-N ( corvin at navarro dot de )
 * @date       2023
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
 
#pragma once
 
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/services/tasks/RunningTask.h>
#include <RobotAPI/interface/units/LaserScannerUnit.h>
 
 
namespace RobotComponents
{
 
    class Component :
        virtual public armarx::Component
    {
    public:
 
        /// @see armarx::ManagedIceObject::getDefaultName()
        std::string getDefaultName() const override;
 
        /// Get the component's default name.
        static std::string GetDefaultName();
 
 
    protected:
 
        /// @see PropertyUser::createPropertyDefinitions()
        armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
 
        /// @see armarx::ManagedIceObject::onInitComponent()
        void onInitComponent() override;
 
        /// @see armarx::ManagedIceObject::onConnectComponent()
        void onConnectComponent() override;
 
        /// @see armarx::ManagedIceObject::onDisconnectComponent()
        void onDisconnectComponent() override;
 
        /// @see armarx::ManagedIceObject::onExitComponent()
        void onExitComponent() override;
 
    private:
        void run();
        
        int randInRange(int min, int max);
 
 
    private:
 
        static const std::string defaultName;
 
        struct Properties
        {
            std::string topicName;
            bool useTopic;
 
            std::string frame;
 
            int freq;
 
            int min;
            int max;
 
            int correctBatchSize;
            int wrongBatchSize;
        };
        Properties properties;
 
        armarx::LaserScannerUnitListenerPrx laserScanUnitListenerTopic;
        armarx::LaserScannerUnitListenerPrx laserScanUnitListenerPrx;
        armarx::RunningTask<Component>::pointer_type runTask;
    };
 
}  // namespace RobotComponents::components::laser_scanner_timestamp_test