evarobot_infrared.h

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#ifndef INCLUDE_EVAROBOT_INFRARED_H_
#define INCLUDE_EVAROBOT_INFRARED_H_

#include "ros/ros.h"
#include "sensor_msgs/Range.h"

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

#include <dynamic_reconfigure/server.h>
#include <evarobot_infrared/ParamsConfig.h>

#include <vector>
#include <sstream>

#include <boost/shared_ptr.hpp>

#include "IMADC.h"

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

//#ifndef DEBUG
//#define DEBUG
//#endif

#define MAX_IR 8

using namespace std;

class IMDynamicReconfig
{
        public:
        IMDynamicReconfig();
        
        void CallbackReconfigure(evarobot_infrared::ParamsConfig &config, uint32_t level);
        
        ros::NodeHandle n_private;
        
        double d_min_range, d_max_range, d_fov;
        double d_max_freq, d_min_freq;
        double d_par_k, d_par_a, d_par_b;
        
        bool b_always_on;
                
        dynamic_reconfigure::Server<evarobot_infrared::ParamsConfig> srv;
        dynamic_reconfigure::Server<evarobot_infrared::ParamsConfig>::CallbackType f;
};

class IMInfrared
{
        public:
        
        IMInfrared(int id,
                                        boost::shared_ptr<IMADC> _adc,
                                  boost::shared_ptr<IMDynamicReconfig> _dynamic_params);
        ~IMInfrared();
        bool ReadRange();
        void Publish();
        void ProduceDiagnostics(diagnostic_updater::DiagnosticStatusWrapper &stat);
        
        ros::NodeHandle n;
  ros::Publisher pub_inf;
  diagnostic_updater::Updater updater;
        
        private:
        
        int i_id;
        bool b_is_alive;
        
        sensor_msgs::Range inf_msg;
        
        boost::shared_ptr<IMADC> adc;
        boost::shared_ptr<IMDynamicReconfig> dynamic_params;
        
        double min_freq;
        double max_freq;
        diagnostic_updater::HeaderlessTopicDiagnostic * pub_inf_freq;

};

#endif