Stream.h

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#ifndef STREAM_H
#define STREAM_H
 
#include <muse_v2_driver/MuseV2.h>
 
#include <geometry_msgs/QuaternionStamped.h>
#include <geometry_msgs/Vector3Stamped.h>
#include <sensor_msgs/Imu.h>
#include <sensor_msgs/MagneticField.h>
#include <muse_v2_driver/Transmission.h>
 
#include <muse_v2/MuseV2_HW.h>
 
#include <tf/tf.h>
 
namespace muse_v2_driver {
 
        class Stream
        {
        public:
 
                struct CommandList
                {
                        bool get_imu = false;
                        bool get_quaternion = false;
                        bool get_angular_velocity = false;
                        bool get_acceleration = false;
                        bool get_mag = false;
                        bool get_rpy = false;
 
                        bool operator==(const CommandList& rhs) const {
                                return  (
                                        (get_imu == rhs.get_imu) &&
                                        (get_quaternion == rhs.get_quaternion) &&
                                        (get_angular_velocity == rhs.get_angular_velocity) &&
                                        (get_angular_velocity == rhs.get_angular_velocity) &&
                                        (get_acceleration == rhs.get_acceleration) &&
                                        (get_mag == rhs.get_mag) &&
                                        (get_rpy == rhs.get_rpy)
                                        );
                        }
 
                } default_command_list;
 
                enum CommandType {
                        GET_IMU,
                        GET_QUATERNION,
                        GET_ANGULAR_VELOCITY,
                        GET_ACCELERATION,
                        GET_MAG,
                        GET_RPY
                };
 
                CommandList input_command, received_command;
 
                geometry_msgs::QuaternionStamped quaternion_msg;
                geometry_msgs::Vector3Stamped rpy_msg;
                geometry_msgs::Vector3Stamped angular_velocity_msg;
                geometry_msgs::Vector3Stamped acceleration_msg;
                sensor_msgs::MagneticField mag_msg;
                sensor_msgs::Imu imu_msg;
 
                ros::Publisher pub_acceleration, pub_angular_velocity, pub_imu, pub_mag, pub_quaternion, pub_rpy;
 
                Stream() = default;
                Stream(ros::NodeHandle& node, int pub_queue_size = 10);
                ~Stream() = default;
 
                void setupInputCommands(ros::NodeHandle& node);
                bool isFrequencyAdmissible(int frequency);
                void StreamRawData(const Transmission::ConstPtr& msg, MuseV2* muse_v2);
 
        };
}
 
#endif