buzzer_switch.hpp

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#ifndef _BUZZER_SWITCH_HPP
#define _BUZZER_SWITCH_HPP
 
#include <driver_msgs/msg/buzzer_switch.hpp>
#include <proto_files/conversion_driver_msgs__BuzzerSwitch.hpp>
#include <protolink/client.hpp>
#include <rclcpp/rclcpp.hpp>
 
namespace driver::sensors_esp32_driver
{
 
class BuzzerSwitch : public rclcpp::Node
{
public:
  explicit BuzzerSwitch(const rclcpp::NodeOptions & options);
 
private:
  std::string mcu_ip_addr;
  uint16_t mcu_port;
  uint16_t this_port;
 
  protolink::IoContext io_context_;
  std::shared_ptr<protolink::udp_protocol::soket> sock_;
 
  using ProtoBuzzerSwitch = protolink__driver_msgs__BuzzerSwitch::driver_msgs__BuzzerSwitch;
  std::shared_ptr<protolink::udp_protocol::Publisher<ProtoBuzzerSwitch>> protolink_publisher_;
 
  rclcpp::Subscription<driver_msgs::msg::BuzzerSwitch>::SharedPtr sub_;
};
 
}  // namespace driver::sensors_esp32_driver
 
#endif