tilt_servo.hpp

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#ifndef _TILT_SERVO_HPP
#define _TILT_SERVO_HPP
 
#include <driver_msgs/msg/int32_stamped.hpp>
#include <memory>
#include <proto_files/conversion_driver_msgs__Int32Stamped.hpp>
#include <protolink/client.hpp>
#include <rclcpp/rclcpp.hpp>
 
namespace driver::sensors_esp32_driver
{
 
class TiltServo : public rclcpp::Node
{
public:
  explicit TiltServo(const rclcpp::NodeOptions & options);
 
private:
  std::string mcu_ip_addr;  // of microcontroller, etc.
  uint16_t mcu_port;        // same as above
  uint16_t this_port;       // of the computer executing this code
 
  protolink::IoContext io_context_;
  std::shared_ptr<protolink::udp_protocol::soket> sock_;
 
  using protoInt32Stamped = protolink__driver_msgs__Int32Stamped::driver_msgs__Int32Stamped;
  std::shared_ptr<protolink::udp_protocol::Publisher<protoInt32Stamped>> protolink_publisher_;
 
  rclcpp::Subscription<driver_msgs::msg::Int32Stamped>::SharedPtr sub_;
};
 
}  // namespace driver::sensors_esp32_driver
 
#endif  // !_TILT_SERVO_HPP