evarobot_rgb.h

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#ifndef INCLUDE_EVAROBOT_RGB_H_
#define INCLUDE_EVAROBOT_RGB_H_

#include "ros/ros.h"
#include <vector>
#include <fcntl.h>
#include <sys/ioctl.h>          /* ioctl */
#include "IMEIO.h"
#include <vector>
#include <sstream>

#include "im_msgs/SetRGB.h"


#include <ros/console.h>
#include "ErrorCodes.h"

#include <diagnostic_updater/diagnostic_updater.h>
#include <diagnostic_updater/publisher.h>

char SEM_NAME[]= "i2c";

using namespace std;

class IMRGB
{
public:
        IMRGB(IMEIO * eio);
        ~IMRGB();
        void RunAutonomousMode();
        void RunTeleopMode();
        void RunWanderMode();
        void RunManualMode();
        void RunChargingMode();
        void RunChargedMode();
        void RunErrorMode();
        void RunLowBatteryMode();
        void RunOpeningMode();
        void TurnLedOff();
        
        bool isNewRequest() const;
        float GetFrequency() const;
        int GetMode() const;
        int GetTimesValue() const;
        
        // Callback Fınction
        bool callbackSetRGB(im_msgs::SetRGB::Request& request, im_msgs::SetRGB::Response& response);
        
        // COLORS
        static const int LEDOFF;
        static const int RED;
        static const int GREEN;
        static const int YELLOW;
        static const int BLUE;
        static const int PINK;
        static const int TURQUOISE;
        static const int WHITE;
        
        // MODES
        static const int MANUAL;
        static const int ON;
        static const int AUTONOMOUS;
        static const int TELEOP;
        static const int WANDER;
        static const int LOW_BATTERY;
        static const int CHARGING;
        static const int CHARGED;
        static const int ERROR;
                
private:
        IMEIO * eio;
        
        bool b_new_data;
        int i_mode;
        float f_frequency;
        int i_times;
        int i_color;
        
        void TurnLedOn(int i_color);
        
        void FlipFlip(int i_color);
        void Flash(int i_color, float f_frequency);
        bool DecreaseTimesValue();
};

#endif