USBLNodelet.hpp

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*  Author: Dula Nad
*  Created: 02.04.2013.
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#ifndef USBLNODELET_HPP_
#define USBLNODELET_HPP_
#include <labust/tritech/tritechfwd.hpp>

#include <std_msgs/String.h>
#include <std_msgs/Bool.h>
#include <tf/transform_broadcaster.h>
#include <nodelet/nodelet.h>
#include <ros/ros.h>

#include <boost/thread.hpp>

#include <string>

namespace labust
{
        namespace tritech
        {
                class USBLNodelet : public nodelet::Nodelet
                {
                public:
                        USBLNodelet();
                        ~USBLNodelet();

                        void onInit();
                        void run();
                        void stop();

                protected:
                        void onAttMsg(labust::tritech::TCONMsgPtr tmsg);
                        void onNavMsg(labust::tritech::TCONMsgPtr tmsg);
                        void onTCONMsg(labust::tritech::TCONMsgPtr tmsg);
                        void onOutgoingMsg(const std_msgs::String::ConstPtr msg);
                        void onAutoMode(const std_msgs::Bool::ConstPtr mode);
                        void sendUSBLPkg();
                        int ping_timeout;

                        TCPDevicePtr usbl, attitude;
                        std::string address;
                        int port;
                        ros::Time lastUSBL;
                        std::string msg_out;
                        bool usblBusy;
                        boost::condition_variable usblCondition;

                        boost::mutex dataMux, pingLock;
                        boost::thread worker, guard;

                        ros::Publisher navPub, dataPub, usblTimeout, attRaw, attData;
                        ros::Subscriber dataSub, opMode;
                        tf::TransformBroadcaster frameBroadcast;
                        bool autoMode;
                };
        }
}

/* USBLNODELET_HPP_ */
#endif