Configuration.h

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#ifndef CONFIGURATION_H
#define CONFIGURATION_H
 
#include <muse_v2_driver/MuseV2.h>
#include <muse_v2_driver/GetConfigurationParams.h>
#include <muse_v2_driver/SetConfigurationParams.h>
 
namespace muse_v2_driver {
 
        class Configuration
        {
        public:
 
                struct CommandList
                {
                        bool get_gyroscope_full_scale = false;
                        bool get_accelerometer_full_scale = false;
                        bool get_accelerometer_hdr_full_scale = false;
                        bool get_magnetometer_full_scale = false;
                        bool get_log_mode = false;
                        bool get_log_frequency = false;
 
                        uint16_t gyroscope_full_scale = 0;
                        uint8_t accelerometer_full_scale = 0;
                        uint16_t accelerometer_hdr_full_scale = 0;
                        uint8_t magnetometer_full_scale = 0;
                        uint8_t log_mode = UINT8_MAX;
                        uint8_t log_frequency = UINT8_MAX;
 
                        bool operator==(const CommandList& rhs) const {
                                return  (
                                        (get_gyroscope_full_scale == rhs.get_gyroscope_full_scale) &&
                                        (get_accelerometer_full_scale == rhs.get_accelerometer_full_scale) &&
                                        (get_accelerometer_hdr_full_scale == rhs.get_accelerometer_hdr_full_scale) &&
                                        (get_magnetometer_full_scale == rhs.get_magnetometer_full_scale) &&
                                        (get_log_mode == rhs.get_log_mode) &&
                                        (gyroscope_full_scale == rhs.gyroscope_full_scale) &&
                                        (accelerometer_full_scale == rhs.accelerometer_full_scale)&&
                                        (accelerometer_hdr_full_scale == rhs.accelerometer_hdr_full_scale)&&
                                        (magnetometer_full_scale == rhs.magnetometer_full_scale)&&
                                        (log_mode == rhs.log_mode)&&
                                        (log_frequency == rhs.log_frequency)
                                        );
                        }
 
                } default_command_list;
 
                CommandList input_command, received_command;
 
                Configuration() = default;
                ~Configuration() = default;
 
                void setupInputCommands(ros::NodeHandle& node);
                bool getConfigurationParams(GetConfigurationParams::Request& req, GetConfigurationParams::Response& res, MuseV2* muse_v2);
                bool setConfigurationParams(SetConfigurationParams::Request& req, SetConfigurationParams::Response& res, MuseV2* muse_v2);
 
        };
}
 
#endif