ECUNode.hpp

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#ifndef ECU_NODE_H
#define ECU_NODE_H
 
#include <chrono>
 
#include <sensor_msgs/msg/range.hpp>
#include <galaxis/GalaxisNode.hpp>
#include "ECUHandler.hpp"
#include "util/Packets.hpp"
#include <galaxis/messages.hpp>
#include <sensor_msgs/msg/range.hpp>
#include <std_msgs/msg/float32.hpp>
 
 
class ECUNode : public GalaxisNode {
public:
  ECUNode() :
      GalaxisNode("ecu_node") {}
 
  void init(std::shared_ptr<ECUHandler> _handler);
 
  void publishMeasurements(const EcuPacket* const packet, const std::array<std::chrono::duration<double, std::milli>, 10>& diff_ms);
 
private:
  /* PRIVATE VARIABLE DECLARATIONS */
  rclcpp::Publisher<ButtonStateMessageType>::SharedPtr
      m_buttonStatePubSPtr = nullptr;
 
  rclcpp::Publisher<MeasurementsType>::SharedPtr
      m_measurementPubSPtr = nullptr;
 
   // rclcpp::Publisher<MeasurementsType>::SharedPtr
   //    m_measurementPubSPtr2 = nullptr;
 
  rclcpp::Publisher<sensor_msgs::msg::Range>::SharedPtr m_TOFRearPubSPtr;
  rclcpp::Publisher<sensor_msgs::msg::Range>::SharedPtr m_TOFRightPubSPtr;
  rclcpp::Publisher<std_msgs::msg::Float32>::SharedPtr m_velocityPubSPtr;
//   rclcpp::Publisher<std_msgs::msg::Float32>::SharedPtr m_orientationPubSPtr;
 
  rclcpp::Subscription<ControlMotionType>::SharedPtr
      m_controlValuesSubSPtr = nullptr;
 
  rclcpp::Subscription<SettingsValuesType>::SharedPtr
      m_settingsValuesSubSPtr = nullptr;
 
  rclcpp::Subscription<ControlLightsType>::SharedPtr
      m_lightsSubSPtr = nullptr;
  std::shared_ptr<ECUHandler> m_ecuHandlerSPtr = nullptr;
 
  ControlLightsType::SharedPtr m_lastLightsSPtr = nullptr;
 
  uint8_t m_lastButtonState = 0;
 
  std::mutex m_lightsMtx;
 
  /* PRIVATE FUNCTION DECLARATIONS */
 
  void motion_callback(const ControlMotionType::SharedPtr p_msgSPtr);
 
  void lights_callback(const ControlLightsType::SharedPtr p_msgSPtr);
 
  void settingsvalues_callback(const SettingsValuesType::SharedPtr p_msgSPtr);
};
 
#endif //ECU_NODE_H