DMU11.h

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//
// Created by leutrim on 11/04/18.
//

#ifndef DMU_ROS_DMU11_H
#define DMU_ROS_DMU11_H

#include <ros/ros.h>
#include <sensor_msgs/Imu.h>
#include <dmu_ros/DMURaw.h>
#include <tf/tf.h>
#include <termios.h>
#include <string>
#include <iostream>
#include <signal.h>
#include <stdio.h>
#include <unistd.h>
#include <fcntl.h>


class DMU11
{
    ros::Publisher imu_publisher_;
    ros::Publisher dmu_raw_publisher_;
    std::string device_;
    std::string frame_id_;

    dmu_ros::DMURaw raw_package_; //Custom message containing all DMU11 raw data.

    //Constants
    const double g_ = 9.80665;
    int16_t header_ = 0x55aa;
    int file_descriptor_;
    struct termios defaults_;

public:
//IMU ROS format
    sensor_msgs::Imu imu_raw_;
    double rate_;


    double roll_ = 0;
    double pitch_ = 0;
    double yaw_ = 0;

    DMU11(ros::NodeHandle &nh);

    int openPort();

    void update();

    void closePort();

    int16_t big_endian_to_short(unsigned char *data);

    float short_to_float(int16_t *data);

    void doParsing(int16_t *int16buff);


    virtual ~DMU11();

};


#endif //DMU_ROS_DMU11_H