status.h

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#ifndef MULTISENSE_ROS_STATUS_H
#define MULTISENSE_ROS_STATUS_H
 
#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