RelayNode.h

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#ifndef _RELAY_NODE_H_
#define _RELAY_NODE_H_

#include <ros/ros.h>
#include <std_msgs/Bool.h>
#include <std_msgs/Byte.h>
#include <std_msgs/String.h>

struct ftdi_context;

namespace sainsmart_relay_usb
{

class RelayNode
{
public:
  RelayNode(ros::NodeHandle &nh, ros::NodeHandle &nh_priv);
  ~RelayNode();

private:
  void serviceDevice();
  void timerCallback(const ros::WallTimerEvent& event);
  void recv(const std_msgs::Byte::ConstPtr& msg);

  void publishReady(bool ready) {
    std_msgs::Bool msg; msg.data = ready;
    pub_ready_.publish(msg);
  }
  void publishSerial(const std::string &serial) {
    std_msgs::String msg; msg.data = serial;
    pub_serial_.publish(msg);
  }

  // Parameters
  std::string param_serial_; // Serial number
  std::string param_desc_; // Description

  // Timer
  ros::WallTimer timer_;

  // FTDI context
  ftdi_context *ctx_;

  // Subscribed topics
  ros::Subscriber sub_;

  // Published topics
  ros::Publisher pub_ready_;
  ros::Publisher pub_serial_;

  // Device serial number
  std::string serial_live_;

  // Keep track if USB device is open
  bool open_;
};

} // namespace sainsmart_relay_usb

#endif // _RELAY_NODE_H_