status.h

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#ifndef MULTISENSE_ROS_STATUS_H
#define MULTISENSE_ROS_STATUS_H

#include <boost/shared_ptr.hpp>
#include <boost/thread.hpp>
#include <ros/ros.h>

#include <multisense_lib/MultiSenseChannel.hh>

namespace multisense_ros {

class Status {
public:

    Status(crl::multisense::Channel* driver);
    ~Status();

private:

    //
    // CRL sensor API

    crl::multisense::Channel* driver_;

    //
    // Driver nodes

    ros::NodeHandle device_nh_;

    //
    // Device Status publisher

    ros::Publisher status_pub_;

    //
    // A timer to query our device status at a fixed rate

    ros::Timer status_timer_;

    //
    // The callback used to query the device status in the timer routine

    void queryStatus(const ros::TimerEvent& event);


    //
    // Publish control

    int32_t subscribers_;
    void connect();
    void disconnect();

};

}

#endif