UlcNode.h

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#ifndef ULCNODE_H
#define ULCNODE_H
 
#include <ros/ros.h>
#include <std_msgs/Bool.h>
#include <geometry_msgs/TwistStamped.h>
#include <can_msgs/Frame.h>
#include <dataspeed_ulc_msgs/UlcCmd.h>
#include <dataspeed_ulc_msgs/UlcReport.h>
 
#include <dataspeed_ulc_can/PlatformMap.h>
 
namespace dataspeed_ulc_can
{
 
class UlcNode
{
public:
  UlcNode(ros::NodeHandle &n, ros::NodeHandle &pn);
private:
 
  void recvCan(const can_msgs::FrameConstPtr& msg);
  void recvUlcCmd(const dataspeed_ulc_msgs::UlcCmdConstPtr& msg);
  void recvTwistCmd(const geometry_msgs::Twist& msg);
  void recvTwist(const geometry_msgs::TwistConstPtr& msg);
  void recvTwistStamped(const geometry_msgs::TwistStampedConstPtr& msg);
  void recvEnable(const std_msgs::BoolConstPtr& msg);
  void configTimerCb(const ros::TimerEvent& event);
  void sendCmdMsg(bool cfg);
  void sendCfgMsg();
 
  ros::Subscriber sub_cmd_;
  ros::Subscriber sub_twist_;
  ros::Subscriber sub_twist_stamped_;
  ros::Subscriber sub_can_;
  ros::Subscriber sub_enable_;
  ros::Publisher pub_report_;
  ros::Publisher pub_can_;
  ros::Timer config_timer_;
 
  dataspeed_ulc_msgs::UlcCmd ulc_cmd_;
  ros::Time cmd_stamp_;
  bool enable_;
  bool accel_mode_supported_;
 
  // Firmware Versions
  PlatformMap firmware_;
};
 
}
 
#endif // ULCNODE_H