.. _program_listing_file__tmp_ws_src_phidgets_drivers_phidgets_gyroscope_include_phidgets_gyroscope_gyroscope_ros_i.hpp:

Program Listing for File gyroscope_ros_i.hpp
============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_phidgets_drivers_phidgets_gyroscope_include_phidgets_gyroscope_gyroscope_ros_i.hpp>` (``/tmp/ws/src/phidgets_drivers/phidgets_gyroscope/include/phidgets_gyroscope/gyroscope_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_GYROSCOPE_GYROSCOPE_ROS_I_HPP
   #define PHIDGETS_GYROSCOPE_GYROSCOPE_ROS_I_HPP
   
   #include <memory>
   #include <mutex>
   #include <string>
   
   #include <rclcpp/rclcpp.hpp>
   #include <sensor_msgs/msg/imu.hpp>
   #include <std_msgs/msg/bool.hpp>
   #include <std_srvs/srv/empty.hpp>
   
   #include "phidgets_api/gyroscope.hpp"
   
   namespace phidgets {
   
   class GyroscopeRosI final : public rclcpp::Node
   {
     public:
       explicit GyroscopeRosI(const rclcpp::NodeOptions& options);
   
     private:
       std::unique_ptr<Gyroscope> gyroscope_;
       std::string frame_id_;
       double angular_velocity_variance_{0.0};
       std::mutex gyro_mutex_;
       double last_gyro_x_{0.0};
       double last_gyro_y_{0.0};
       double last_gyro_z_{0.0};
   
       rclcpp::Publisher<std_msgs::msg::Bool>::SharedPtr cal_publisher_;
       rclcpp::Service<std_srvs::srv::Empty>::SharedPtr cal_srv_;
       rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr gyroscope_pub_;
       void timerCallback();
       rclcpp::TimerBase::SharedPtr timer_;
       double publish_rate_;
   
       rclcpp::Time ros_time_zero_;
       bool synchronize_timestamps_{true};
       uint64_t data_time_zero_ns_{0};
       uint64_t last_data_timestamp_ns_{0};
       uint64_t last_ros_stamp_ns_{0};
       int64_t time_resync_interval_ns_{0};
       int64_t data_interval_ns_{0};
       bool can_publish_{false};
       rclcpp::Time last_cb_time_;
       int64_t cb_delta_epsilon_ns_{0};
   
       void publishLatest();
   
       void calibrate();
   
       void calibrateService(
           const std::shared_ptr<std_srvs::srv::Empty::Request> req,
           std::shared_ptr<std_srvs::srv::Empty::Response> res);
   
       void gyroscopeChangeCallback(const double angular_rate[3],
                                    const double timestamp);
   };
   
   }  // namespace phidgets
   
   #endif  // PHIDGETS_GYROSCOPE_GYROSCOPE_ROS_I_HPP