improved namespace and class hierarchy. Should build with warnings, d…

…oes not yet do anything useful

software/ros_ws/src/sensors/CMakeLists.txt

@@ -1,3 +1,5 @@
+# File: CMakeLists.txt
+
 cmake_minimum_required(VERSION 3.8)
 project(sensors)
 
@@ -10,59 +12,39 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-# find dependencies
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  # Add -Werror flag for release builds
+  set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -Werror")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# Set the C++ standard
+set(CMAKE_CXX_STANDARD 20)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+# Find dependencies
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(std_msgs REQUIRED)
 
-#incldue dirs
+# Include directories
 include_directories(include)
 
 # Add the m2m2_lidar executable
-add_executable(m2m2_lidar
-  src/m2m2_lidar/main.cpp
-  src/m2m2_lidar/communication.cpp
-  src/m2m2_lidar/protocol.cpp
-)
-
-#add_executable(m2m2_lidar src/m2m2_lidar.cpp)
-#target_include_directories(m2m2_lidar PUBLIC
-#  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-#  $<INSTALL_INTERFACE:include>)
-#target_compile_features(m2m2_lidar PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
-
-
-ament_target_dependencies(
-  m2m2_lidar
-  "rclcpp"
-  "sensor_msgs"
-  "std_msgs"
-)
+add_executable(m2m2_lidar src/m2m2_lidar/m2m2_lidar.cpp)
 
-#install targets
-install(TARGETS m2m2_lidar
-  DESTINATION lib/${PROJECT_NAME})
+ament_target_dependencies(m2m2_lidar rclcpp sensor_msgs std_msgs)
 
-#install include directory
-install(DIRECTORY include/
-  DESTINATION include/
-)
+# Install targets
+install(TARGETS m2m2_lidar DESTINATION lib/${PROJECT_NAME})
 
-#Install launch files
-install(DIRECTORY 
-	launch
-	DESTINATION share/${PROJECT_NAME}
-)
+# Install include directory
+install(DIRECTORY include/ DESTINATION include/)
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  # comment the line when a copyright and license is added to all source files
   set(ament_cmake_copyright_FOUND TRUE)
-  # the following line skips cpplint (only works in a git repo)
-  # comment the line when this package is in a git repo and when
-  # a copyright and license is added to all source files
   set(ament_cmake_cpplint_FOUND TRUE)
   ament_lint_auto_find_test_dependencies()
 endif()

software/ros_ws/src/sensors/include/sensors/m2m2_lidar/m2m2_lidar.hpp

@@ -0,0 +1,100 @@
+// File: include/sensors/m2m2_lidar/m2m2_lidar.hpp
+
+#pragma once
+
+#include <optional>
+#include <rclcpp/rclcpp.hpp>
+#include <sensor_msgs/msg/imu.hpp>
+#include <sensor_msgs/msg/laser_scan.hpp>
+#include <string>
+#include <vector>
+
+namespace sensors
+{
+    namespace lidar
+    {
+        namespace m2m2
+        {
+
+            /**
+             * @brief Configuration parameters for the M2M2 Lidar
+             *
+             * Groups all sensor-specific configuration parameters in one place,
+             * making it easier to modify settings and extend functionality
+             */
+            struct SensorConfig
+            {
+                double scanFrequency;
+                double angularResolution;
+                double minRange;
+                double maxRange;
+            };
+
+            /**
+             * @brief Main class for interfacing with the M2M2 Lidar sensor
+             *
+             * This class handles both the network communication and protocol parsing
+             * for the M2M2 Lidar. While this combines two responsibilities, they are
+             * tightly coupled for this specific sensor and the data flow between
+             * them is well-defined.
+             */
+            class Lidar : public rclcpp::Node
+            {
+            public:
+                /**
+                 * @brief Constructor for the M2M2 Lidar node
+                 * @param options ROS2 node options for configuration
+                 */
+                explicit Lidar(
+                    const rclcpp::NodeOptions& options = rclcpp::NodeOptions());
+
+                /**
+                 * @brief Destructor ensures proper cleanup of resources
+                 */
+                ~Lidar();
+
+                /**
+                 * @brief Initialize the lidar connection and start data processing
+                 * @return true if initialization successful
+                 */
+                bool initialize();
+
+            private:
+                // Network communication methods
+                bool connectToSensor();
+                bool sendCommand(const std::vector<uint8_t>& command);
+                std::optional<std::vector<uint8_t>> receiveData();
+                void disconnect();
+
+                // Protocol handling methods
+                std::vector<uint8_t> createConfigCommand(const SensorConfig& config);
+                std::optional<sensor_msgs::msg::LaserScan> parseLaserScanData(
+                    const std::vector<uint8_t>& data);
+                std::optional<sensor_msgs::msg::Imu> parseImuData(
+                    const std::vector<uint8_t>& data);
+
+                // ROS2 interface methods
+                void initializePublishers();
+                void publishData();
+                void readSensorData();
+
+                // Member variables
+                std::string _sensorAddress;
+                uint16_t _sensorPort;
+                int _socket;
+                bool _isConnected;
+                SensorConfig _config;
+
+                // Protocol-related constants
+                static constexpr uint8_t PROTOCOL_HEADER = 0xAA;
+                static constexpr uint8_t PROTOCOL_FOOTER = 0x55;
+
+                // ROS2 publishers
+                rclcpp::Publisher<sensor_msgs::msg::LaserScan>::SharedPtr _scanPublisher;
+                rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr _imuPublisher;
+                rclcpp::TimerBase::SharedPtr _readTimer;
+            };
+
+        }
+    }
+}  // namespace sensors::lidar::m2m2