system_status.hpp

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#ifndef _SYSTEM_STATUS_HPP
#define _SYSTEM_STATUS_HPP
 
#include <cstdint>
#include <driver_msgs/msg/system_status.hpp>
#include <mutex>
#include <proto_files/conversion_driver_msgs__SystemStatus.hpp>
#include <protolink/client.hpp>
#include <rclcpp/rclcpp.hpp>
#include <timer/timeout.hpp>
 
namespace driver::sensors_esp32_driver
{
class SystemStatus : public rclcpp::Node
{
public:
  explicit SystemStatus(const rclcpp::NodeOptions & options);
 
private:
  // Network settings
  uint16_t sub_port;
  uint64_t timeout_ms;
 
  protolink::IoContext io_context_;
  std::shared_ptr<boost::asio::ip::udp::socket> sock_;
  std::shared_ptr<timer::Timeout> timeout_;
  std::mutex mutex_;
 
  using ProtoSystemStatus = protolink__driver_msgs__SystemStatus::driver_msgs__SystemStatus;
  std::shared_ptr<protolink::udp_protocol::Subscriber<ProtoSystemStatus>> protolink_subscriber_;
 
  rclcpp::Publisher<driver_msgs::msg::SystemStatus>::SharedPtr pub_;
  rclcpp::TimerBase::SharedPtr timer_;
 
  void protolink_callback(const ProtoSystemStatus & _msg);
};
 
}  // namespace driver::sensors_esp32_driver
 
#endif