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;\
}\

#define DEG2RAD(x) ((x)*M_PI/180.)

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

    PropertyBuilderByName(bool,Intensities,private)
    PropertyBuilderByName(bool,FixedResolution,private)
    PropertyBuilderByName(bool,Exposure,private)
    PropertyBuilderByName(bool,HeartBeat,private)
    PropertyBuilderByName(bool,Reversion, private)

    PropertyBuilderByName(int,SerialBaudrate,private)
    PropertyBuilderByName(int,SampleRate,private)

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


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

    bool initialize();  

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

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

    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();



private:
    bool isScanning;
    int node_counts ;
    double each_angle;
    int show_error;
};  // End of class