ir_controller_node.h

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#ifndef __IR_CONTROLLER_NODE_H__
#define __IR_CONTROLLER_NODE_H__

#include <ros/ros.h>
#include "ir_driver_interface.h"

// messages and services
#include <ir_controller_msgs/GetTvAction.h>
#include <ir_controller_msgs/TvActions.h>
#include <ir_controller_msgs/SetTvAction.h>

class IRControllerNode {
    public:
        IRControllerNode(IrDriverInterface *ir_driver);

        ~IRControllerNode();

        void init();

        void spin();

        // publishers

        void publish(std::string command);

        // services

        bool send_command(ir_controller_msgs::SetTvAction::Request & req,
                          ir_controller_msgs::SetTvAction::Response & resp);

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

        ros::Publisher _action_pub;

        ros::ServiceServer _action_srv;

        ros::Rate _publish_rate;

        IrDriverInterface *_ir_driver;

        bool _is_on;
};

#endif