.. _program_listing_file_include_opensw_protocol.h:

Program Listing for File protocol.h
===================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_opensw_protocol.h>` (``include/opensw/protocol.h``)

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

.. code-block:: cpp

   
   #pragma once
   
   #include <array>
   #include <cstdint>
   #include <string>
   #include <vector>
   
   #include <opensw/types.h>
   
   namespace opensw {
   
   const std::string DELIM = "\n\r\n\r\n";
   const uint8_t RLE_HEADER_SIZE = 9;
   const float MAX_DISTANCE = 100.0f;
   const float MAX_ANGLE = M_PI + 0.01;
   
   // commands
   const std::string CMD_GET_IMU_IN_ROBOT_COORDINATE = "getimuinrobotcoordinate";
   const std::string CMD_GET_KNOWN_AREA = "getknownarea";
   const std::string CMD_GET_LASER_SCAN = "getlaserscan";
   const std::string CMD_GET_LOCATION = "getlocation";
   const std::string CMD_GET_MAP_DATA = "getmapdata";
   const std::string CMD_GET_POSE = "getpose";
   const std::string CMD_GET_ROBOT_HEALTH = "getrobothealth";
   const std::string CMD_GET_SPD_VERSION = "getsdpversion";
   const std::string CMD_GET_SYSTEM_RESOURCE = "getsystemresource";
   
   std::vector<uint8_t> inflate(const std::string& base64_data);
   
   std::vector<LaserPoint> parseLaserPoints(const std::string& base64_data, bool fill_gaps=false);
   
   }  // namespace opensw