MMNode.hpp

Go to the documentation of this file.

#ifndef MMNODE_H
#define MMNODE_H
 
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"
#include <galaxis/messages.hpp>
#include <string>
 
extern "C" {
#include <marvelmind.h>
}
 
using std::placeholders::_1;
 
class MMNode : public rclcpp::Node {
private:
  rclcpp::Publisher<GPSDataType>::SharedPtr m_positionPubSPtr;
  rclcpp::Subscription<ServiceStateType>::SharedPtr m_serviceStateSubSPtr;
 
  uint8_t service_state_ = 0;
  std::string node_name_;
  MarvelmindHedge* m_hedgePtr;
 
  void publish_data(const GPSDataType::SharedPtr msg);
 
public:
  MMNode();
  ~MMNode();
 
  static MMNode* m_instancePtr;
 
  static void on_mm_callback();
};
 
#endif //MMNODE_H