accelerometer_ros_i.h

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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:
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 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
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 *       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"
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#ifndef PHIDGETS_ACCELEROMETER_ACCELEROMETER_ROS_I_H
#define PHIDGETS_ACCELEROMETER_ACCELEROMETER_ROS_I_H
 
#include <memory>
#include <mutex>
#include <string>
 
#include <ros/ros.h>
 
#include "phidgets_api/accelerometer.h"
 
namespace phidgets {
 
const double G = 9.80665;
 
class AccelerometerRosI final
{
  public:
    explicit AccelerometerRosI(ros::NodeHandle nh, ros::NodeHandle nh_private);
 
  private:
    std::unique_ptr<Accelerometer> accelerometer_;
    std::string frame_id_;
    double linear_acceleration_variance_;
    std::mutex accel_mutex_;
    double last_accel_x_;
    double last_accel_y_;
    double last_accel_z_;
 
    ros::NodeHandle nh_;
    ros::NodeHandle nh_private_;
    ros::Publisher accelerometer_pub_;
    void timerCallback(const ros::TimerEvent& event);
    ros::Timer timer_;
    int publish_rate_;
    std::string server_name_;
    std::string server_ip_;
 
    ros::Time ros_time_zero_;
    bool synchronize_timestamps_{true};
    uint64_t data_time_zero_ns_{0};
    uint64_t last_data_timestamp_ns_{0};
    uint64_t last_ros_stamp_ns_{0};
    int64_t time_resync_interval_ns_{0};
    int64_t data_interval_ns_{0};
    bool can_publish_{false};
    ros::Time last_cb_time_;
    int64_t cb_delta_epsilon_ns_{0};
 
    void publishLatest();
 
    void accelerometerChangeCallback(const double acceleration[3],
                                     const double timestamp);
};
 
}  // namespace phidgets
 
#endif  // PHIDGETS_ACCELEROMETER_ACCELEROMETER_ROS_I_H