gearbox.h

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#ifndef _GEARBOX_H_
#define _GEARBOX_H_

#include <ros/ros.h>
#include <iostream>
#include <boost/lexical_cast.hpp>
#include <tcp_client/class_tcp.h>

#include <atlascar_base/GearboxStatus.h>
#include <atlascar_base/GearboxCommand.h>

#include <topic_priority/topic_priority.h>

#include <diagnostic_updater/diagnostic_updater.h>
#include <diagnostic_updater/publisher.h>

namespace atlascar_base
{

class Gearbox
{
        public:
                Gearbox(const ros::NodeHandle& nh);
                
                ~Gearbox();
                
                void init();
                
                void setupMessaging();
                
                void loop();
        private:
                
                void diagnostics(diagnostic_updater::DiagnosticStatusWrapper& stat)
                {
                        if(connection_status_==OFFLINE)
                        {
                                stat.summary(diagnostic_msgs::DiagnosticStatus::ERROR, "No connection to hardware.");
                                stat.add("Status","Check ethernet connection!");
                                stat.add("Trying to connect to",ip_);
                        }else
                                stat.summary(diagnostic_msgs::DiagnosticStatus::OK, "No problems.");
                }
                
                int maintainConnection();
                
                void commandCallback(const atlascar_base::GearboxCommandPtr& command);
                
                int receiveMessage(string& message);
                
                int interpreterMessage(string& message);
                
                enum {OFFLINE=0, ONLINE};
                
                ros::NodeHandle nh_;
                ros::Subscriber command_sub_;
                ros::Publisher status_pub_;
                tcp_client* comm_;
                TopicQueuePriority<atlascar_base::GearboxCommandPtr> command_queue_;
                int connection_status_;
                bool verbose_;
                atlascar_base::GearboxCommandPtr command_;
                atlascar_base::GearboxCommandPtr safety_command_;
                atlascar_base::GearboxStatus status_;
                std::string ip_;
                int port_;
                
                //Create the diagnostics class
                diagnostic_updater::Updater updater_;
                diagnostic_updater::HeaderlessTopicDiagnostic status_freq_;
                double status_max_frequency_;
                double status_min_frequency_;
};

}

#endif