control_proxy_node.hpp
No OneTemporary
Actions

Subscribers

None

File Metadata

	#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