Program Listing for File temperature_ros_i.hpp
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/*
* Copyright (c) 2019, Open Source Robotics Foundation
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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#ifndef PHIDGETS_TEMPERATURE_TEMPERATURE_ROS_I_HPP
#define PHIDGETS_TEMPERATURE_TEMPERATURE_ROS_I_HPP
#include <memory>
#include <mutex>
#include <rclcpp/rclcpp.hpp>
#include <std_msgs/msg/float64.hpp>
#include "phidgets_api/temperature.hpp"
namespace phidgets {
class TemperatureRosI final : public rclcpp::Node
{
public:
explicit TemperatureRosI(const rclcpp::NodeOptions& options);
private:
std::unique_ptr<Temperature> temperature_;
std::mutex temperature_mutex_;
double last_temperature_reading_{0.0};
bool got_first_data_;
rclcpp::Publisher<std_msgs::msg::Float64>::SharedPtr temperature_pub_;
void timerCallback();
rclcpp::TimerBase::SharedPtr timer_;
double publish_rate_;
std::string server_name_;
std::string server_ip_;
void publishLatest();
void temperatureChangeCallback(double temperature);
};
} // namespace phidgets
#endif // PHIDGETS_TEMPERATURE_TEMPERATURE_ROS_I_HPP