depth.hpp

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#ifndef _DEPTH_HPP
#define _DEPTH_HPP
 
#include <cstdint>
#include <driver_msgs/msg/depth.hpp>
#include <proto_files/conversion_driver_msgs__BoolStamped.hpp>
#include <proto_files/conversion_driver_msgs__Depth.hpp>
#include <protolink/client.hpp>
#include <rclcpp/rclcpp.hpp>
#include <timer/timeout.hpp>
 
namespace driver::sensors_esp32_driver
{
 
class Depth : public rclcpp::Node
{
public:
  explicit Depth(const rclcpp::NodeOptions & options);
 
private:
  // Network settings
  std::string mcu_ip_addr;
  uint16_t mcu_port;
  uint16_t this_port;
  uint64_t timeout_ms;
 
  protolink::IoContext io_context_;
  std::shared_ptr<protolink::udp_protocol::soket> sock_;
  std::shared_ptr<timer::Timeout> timeout_;
  std::mutex mutex_;
 
  using protoDepth = protolink__driver_msgs__Depth::driver_msgs__Depth;
  using protoBoolStamped = protolink__driver_msgs__BoolStamped::driver_msgs__BoolStamped;
  std::shared_ptr<protolink::udp_protocol::Publisher<protoBoolStamped>> protolink_publisher_;
  std::shared_ptr<protolink::udp_protocol::Subscriber<protoDepth>> protolink_subscriber_;
 
  rclcpp::Publisher<driver_msgs::msg::Depth>::SharedPtr pub_;
  rclcpp::Subscription<driver_msgs::msg::BoolStamped>::SharedPtr sub_;
  rclcpp::TimerBase::SharedPtr timer_;
 
  void protolink_callback(const protoDepth & _msg);
  void ros_callback(const driver_msgs::msg::BoolStamped & _msg);
};
 
}  // namespace driver::sensors_esp32_driver
 
#endif