pps.h

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#ifndef MULTISENSE_ROS_PPS_H
#define MULTISENSE_ROS_PPS_H

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

#include <multisense_lib/MultiSenseChannel.hh>

namespace multisense_ros {

class Pps {
public:

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

    void ppsCallback(const crl::multisense::pps::Header& header);

private:

    //
    // CRL sensor API

    crl::multisense::Channel* driver_;

    //
    // Driver nodes

    ros::NodeHandle device_nh_;

    //
    // PPS publisher

    ros::Publisher pps_pub_;

    ros::Publisher stamped_pps_pub_;

    //
    // Publish control

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

}

#endif