.. _program_listing_file__tmp_ws_src_phidgets_drivers_phidgets_analog_inputs_include_phidgets_analog_inputs_analog_inputs_ros_i.hpp:

Program Listing for File analog_inputs_ros_i.hpp
================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_phidgets_drivers_phidgets_analog_inputs_include_phidgets_analog_inputs_analog_inputs_ros_i.hpp>` (``/tmp/ws/src/phidgets_drivers/phidgets_analog_inputs/include/phidgets_analog_inputs/analog_inputs_ros_i.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * 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:
    *
    *     * Redistributions of source code must retain the above copyright
    *       notice, this list of conditions and the following disclaimer.
    *     * Redistributions in binary form must reproduce the above copyright
    *       notice, this list of conditions and the following disclaimer in the
    *       documentation and/or other materials provided with the distribution.
    *     * Neither the name of the copyright holder nor the names of its
    *       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"
    * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
    * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
    * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
    * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
    * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
    * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
    * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
    * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
    * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
    * POSSIBILITY OF SUCH DAMAGE.
    */
   
   #ifndef PHIDGETS_ANALOG_INPUTS_ANALOG_INPUTS_ROS_I_HPP
   #define PHIDGETS_ANALOG_INPUTS_ANALOG_INPUTS_ROS_I_HPP
   
   #include <memory>
   #include <mutex>
   #include <vector>
   
   #include <rclcpp/rclcpp.hpp>
   #include <std_msgs/msg/float64.hpp>
   
   #include "phidgets_api/analog_inputs.hpp"
   
   namespace phidgets {
   
   struct ValToPub {
       rclcpp::Publisher<std_msgs::msg::Float64>::SharedPtr pub;
       double last_val{0.0};
       double gain{1.0};
       double offset{0.0};
   };
   
   class AnalogInputsRosI final : public rclcpp::Node
   {
     public:
       explicit AnalogInputsRosI(const rclcpp::NodeOptions& options);
   
     private:
       std::unique_ptr<AnalogInputs> ais_;
       std::mutex ai_mutex_;
       std::vector<ValToPub> val_to_pubs_;
   
       void timerCallback();
       rclcpp::TimerBase::SharedPtr timer_;
       double publish_rate_;
   
       void publishLatest(int index);
   
       void sensorChangeCallback(int index, double sensor_value);
   };
   
   }  // namespace phidgets
   
   #endif  // PHIDGETS_ANALOG_INPUTS_ANALOG_INPUTS_ROS_I_HPP