xdainterface.h

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//  Copyright (c) 2003-2021 Xsens Technologies B.V. or subsidiaries worldwide.
//  All rights reserved.
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//      this list of conditions, and the following disclaimer.
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//  2.  Redistributions in binary form must reproduce the above copyright notice,
//      this list of conditions, and the following disclaimer in the documentation
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#ifndef XDAINTERFACE_H
#define XDAINTERFACE_H
 
#include <ros/ros.h>
 
#include "xdacallback.h"
#include <xstypes/xsportinfo.h>
 
#include "chrono"
 
struct XsControl;
struct XsDevice;
 
 
class PacketCallback;
 
class XdaInterface
{
public:
        XdaInterface();
        ~XdaInterface();
 
        void spinFor(std::chrono::milliseconds timeout);
        void registerPublishers(ros::NodeHandle &node);
 
        bool connectDevice();
        bool configureOutput(unsigned int sampling_frequency, unsigned int enable_acceleration,
                                        unsigned int enable_angular_velocity, unsigned int enable_orientation);
        bool prepare();
        void close();
 
private:
        void registerCallback(PacketCallback *cb);
        bool handleError(std::string error);
 
        XsControl *m_control;
        XsDevice *m_device;
        XsPortInfo m_port;
        XdaCallback m_xdaCallback;
        std::list<PacketCallback *> m_callbacks;
};
 
#endif