remove all the unnecessary code from loopOnce()

source/RobotAPI/drivers/SickLaserUnit/SickLaserUnit.cpp

@@ -45,7 +45,7 @@ namespace armarx
                     if (result == sick_scan::ExitSuccess) // OK -> loop again
                     {
                         ARMARX_INFO_S << "looping";
-                        result = scanner->loopOnce();
+                        result = scanner->loopOnce(scanData);
                         ARMARX_INFO_S << "finished looping";
                     }
                     else

source/RobotAPI/drivers/SickLaserUnit/SickLaserUnit.h

@@ -26,6 +26,7 @@
 
 #include <ArmarXCore/core/Component.h>
 #include <ArmarXCore/core/services/tasks/RunningTask.h>
+#include <RobotAPI/interface/units/LaserScannerUnit.h>
 // #include <ArmarXCore/libraries/ArmarXCoreComponentPlugins/DebugObserverComponentPlugin.h>
 
 // #include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.h>
@@ -72,9 +73,12 @@ namespace armarx
         bool useTcp = false;
         char colaDialectId = 'A';
         //data and task pointers
-        std::vector<long> scanData;
+        std::vector<long> lengthData;
+        LaserScan scanData;
         RunState runState = RunState::scannerFinalize;
         RunningTask<SickLaserScanDevice>::pointer_type task;
+
+
         sick_scan::SickScanConfig cfg;
         SickScanAdapter* scanner;
         //sick_scan::SickScanCommonTcp* scanner;

source/RobotAPI/drivers/SickLaserUnit/SickScanAdapter.h

@@ -36,6 +36,7 @@
 #define SICK_TIM3XX_COMMON_TCP_H
 
 #include <ArmarXCore/core/Component.h>
+#include <RobotAPI/interface/units/LaserScannerUnit.h>
 
 #include <stdio.h>
 #include <stdlib.h>
@@ -70,10 +71,10 @@ namespace armarx
     class SickScanAdapter : public sick_scan::SickScanCommon
     {
     public:
-        int loopOnce();
+        int loopOnce(LaserScan& scanData);
 
-        int parse_datagram(char* datagram, size_t datagram_length, sick_scan::SickScanConfig& config,
-                           sensor_msgs::LaserScan& msg, int& numEchos, int& echoMask);
+        int parseDatagram(char* datagram, size_t datagram_length, sick_scan::SickScanConfig& config,
+                          LaserScan& scanData, LaserScannerInfo& scanInfo, int& numEchos, int& echoMask, bool updateScannerInfo = false);
 
         static void disconnectFunctionS(void* obj);