control_proxy_node.hpp
90d970b096dasimple_kite

control_proxy_node.hpp
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			#ifndef CONTROL_PROXY_NODE_HPP
			#define CONTROL_PROXY_NODE_HPP

			#include "ros/ros.h"
			#include "std_msgs/Int32MultiArray.h"
			#include "std_msgs/Int16MultiArray.h"
			#include "test_package/aircraft_controls.h"
			#include "boost/thread/mutex.hpp"

			class ControlProxyNode
			{
			public:
			ControlProxyNode(const ros::NodeHandle &_nh);
			virtual ~ControlProxyNode(){}

			void publish(){ proxy_pub.publish(servo_msg); }
			void set_servos(const int &thrust, const int &elevator,
			const int &rudder, const int &ailerons)
			{
			servo_msg.data.clear();
			servo_msg.data.push_back( static_cast<uint16_t>(thrust) );
			servo_msg.data.push_back( static_cast<uint16_t>(elevator) );
			servo_msg.data.push_back( static_cast<uint16_t>(rudder) );
			servo_msg.data.push_back( static_cast<uint16_t>(ailerons) );
			}

			private:
			std_msgs::Int16MultiArray servo_msg;
			void controlCallback(const test_package::aircraft_controls::ConstPtr& msg);
			ros::Subscriber proxy_sub;
			ros::Publisher proxy_pub;
			std::shared_ptr<ros::NodeHandle> nh;

			boost::mutex m_mutex;
			};

			#endif // CONTROL_PROXY_NODE_HPP