eyelids_node.h

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#ifndef __EYELIDS_NODE_H__
#define __EYELIDS_NODE_H__

#include <termios.h>
#include <ros/ros.h>
#include "eyelids_data.h"
#include "serial_communication_interface.h"

// messages and services
#include <eyelids_msgs/EyelidPositions.h>
#include <eyelids_msgs/MoveStrPos.h>
#include <motor_controller_msgs/MoveAbsPos.h>

class EyelidsNode {
    public:
        EyelidsNode(SerialCommunicationInterface *serial_comm);

        ~EyelidsNode();

        void init();

        void spin();

        // services

        bool move_abs_pos(motor_controller_msgs::MoveAbsPos::Request & req, motor_controller_msgs::MoveAbsPos::Response & resp);

        bool move_str_pos(eyelids_msgs::MoveStrPos::Request & req, eyelids_msgs::MoveStrPos::Response & resp);

        // methods

        int move(int position);

    private:
        // nodes
        ros::NodeHandle _nh;
        ros::NodeHandle _nh_private;

        // publishers
        ros::Publisher _get_position_msg;

        // services
        ros::ServiceServer _move_abs_pos_srv;
        ros::ServiceServer _move_str_pos_srv;

        // spin rate
        ros::Rate _publish_rate;

        // serial communication
        SerialCommunicationInterface *_serial_comm;
        struct termios _oldtio;

        // left or right eye
        std::string _side;
};

#endif