MuseV2.h

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#ifndef MUSE_ROS_V2_H
#define MUSE_ROS_V2_H
 
#include <ros/ros.h>
 
#include <muse_v2/MuseV2_SerialConnection.h>
 
#include <muse_v2_driver/StopTransmission.h>
#include <muse_v2_driver/Shutdown.h>
#include <muse_v2_driver/Disconnect.h>
 
using namespace MuseV2;
using namespace std;
 
const string DEFAULT_FRAME_ID = "";
const string DEFAULT_PORT_NAME = "";
const uint32_t DEFAULT_BAUDRATE = 115200;
 
namespace muse_v2_driver {
 
        class MuseV2
        {
        public:
 
                struct Params
                {
                        string frame_id = DEFAULT_FRAME_ID;
                        string port_name = DEFAULT_PORT_NAME;
                        uint32_t baudrate = DEFAULT_BAUDRATE;
                        Timeout timeout = Timeout();
                };
 
                MuseV2(ros::NodeHandle& node) {
                        setupParams(node);
                        serial = new MuseV2_SerialConnection(params.port_name, params.baudrate, params.timeout);
                };
 
                ~MuseV2() = default;
 
                Params params;
                MuseV2_SerialConnection *serial;
 
                void setupParams(ros::NodeHandle& node);
                bool stopTransmission(StopTransmission::Request& req, StopTransmission::Response& res, MuseV2* muse_v2);
                bool shutdown(Shutdown::Request& req, Shutdown::Response& res, MuseV2* muse_v2, std::vector<ros::Subscriber>& sub_vect);
                bool disconnect(Disconnect::Request& req, Disconnect::Response& res, MuseV2* muse_v2, std::vector<ros::Subscriber>& sub_vect);
 
        };
}
 
#endif