rfid_node.h

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#ifndef __RFID_NODE_H__
#define __RFID_NODE_H__

#include <iostream>
#include <ros/ros.h>
#include "rfid_driver_interface.h"

// services
#include <rfid_msgs/RfidTag.h>
#include <rfid_msgs/WriteCard.h>

using namespace std;

class RfidNode {
    public:
        RfidNode(RfidDriverInterface *rfid_driver);

        ~RfidNode();

        void init();

        void spin();

        // services

        bool write_card(rfid_msgs::WriteCard::Request & req, rfid_msgs::WriteCard::Response & resp);

        // class methods

        int read_card();

        void set_data(card_data);

        card_data read_tag_data(int num_blocks);

        void write_tag_data(card_data card);

    private:
        int get_num_blocks();

        ros::NodeHandle _nh;
        ros::NodeHandle _nh_private;

        ros::Publisher _write_pub;

        ros::ServiceServer _rfid_write_srv;

        ros::Rate _publish_rate;

        RfidDriverInterface *_rfid_driver;
        card_data _rfid_card;

        int _num_device;
};

#endif