NavQuestNode.hpp

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#ifndef NAVQUESTNODE_HPP_
#define NAVQUESTNODE_HPP_
#include <labust/navigation/NavQuestMessages.hpp>
#include <labust/navigation/BeamPublisher.hpp>

#include <tf/transform_broadcaster.h>
#include <ros/ros.h>

#include <boost/asio.hpp>
#include <boost/thread.hpp>

namespace labust
{
        namespace navigation
        {
                class NavQuestNode
                {
                        enum {u=0,v,w};

                public:
                        NavQuestNode();
                        ~NavQuestNode();
                        void onInit();

                private:
                        void onDvlData(const boost::system::error_code& e, std::size_t size);

                        bool setup_port();
                        void start_receive();
                        void setup_messaging();
                        void setup_publishers();
                        bool test_header(const std::string& match , const std::string& stream);
                        void publishDvlData(const NQRes& data);
                        void conditionDvlData(const NQRes& data);

                        typedef BeamPublisher<4> NavQuestBP;
                        std::map<std::string, NavQuestBP::Ptr > beam_pub;
                        std::map<std::string, TwistPublisher::Ptr > speed_pub;
                        ros::Publisher imuPub, lock, altitude;
                        tf::TransformBroadcaster broadcast;
                        bool useFixed;
                        double base_orientation;
                        double magnetic_declination;


                        boost::asio::io_service io;
                        boost::asio::serial_port port;
                        boost::thread runner;
                        boost::asio::streambuf buffer;

                };
        }
}

/* NAVQUESTNODE_HPP_ */
#endif