phidgets_getdata_synchronous.h

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#ifndef SIMPLE_H
#define SIMPLE_H

#include <stdio.h>

#include <phidget21.h>

#include <ros/ros.h>

#include <ros/package.h>

#include <boost/asio.hpp>
#include <boost/bind.hpp>
#include <boost/thread.hpp>

#include <sensor_msgs/Range.h>
#include <pressure_cells/SenVal.h>
#include <visualization_msgs/Marker.h>


class PhidgetClass
{
    public:
        
        PhidgetClass(boost::asio::io_service& io_service,ros::NodeHandle& nh_);
        
        void start();
        int AttachHandler(CPhidgetHandle IFK);
        int DetachHandler(CPhidgetHandle IFK);
        int ErrorHandler(CPhidgetHandle IFK, int ErrorCode, const char *unknown);
        
        void irHandler(boost::system::error_code const& cError);
        void highRateHandler(boost::system::error_code const& cError);
        
        int readIRSensors();
        int calibrateIRSensors();
        void publishIRValues();   
        int readFSRSensors();
        int calibrateFSRSensors();
        void publishFSRValues();
        void FSR_pub();
        
        int readLCSensors();
        int calibrateLCSensors();
        void publishLCValues();
        void LC_pub();

        int ir1_value;
        int ir2_value;
        int fsr1_value;
        int fsr2_value;
        int fsr3_value;
        int fsr4_value;
        int lc1_value;
        int lc2_value;
        
        double LC1_data, LC2_data, LC3_data; 
        double FSR1_data, FSR2_data, FSR3_data;
        double IR1_data, IR2_data, IR3_data;
        
        double ir1_max, ir1_min, ir1_vmax, ir1_vmin, ir1_v; 
        double ir2_max, ir2_min, ir2_vmax, ir2_vmin, ir2_v; 
        double ir3_max, ir3_min, ir3_vmax, ir3_vmin, ir3_v; 
        
        double fsr1_max, fsr1_min, fsr1_vmax, fsr1_vmin, fsr1_v; 
        double fsr2_max, fsr2_min, fsr2_vmax, fsr2_vmin, fsr2_v; 
        double fsr3_max, fsr3_min, fsr3_vmax, fsr3_vmin, fsr3_v; 
          
        double lc1_max, lc1_min, lc1_vmax, lc1_vmin, lc1_v; 
        double lc2_max, lc2_min, lc2_vmax, lc2_vmin, lc2_v;
        double lc3_max, lc3_min, lc3_vmax, lc3_vmin, lc3_v;
        
    private:
        
        sensor_msgs::Range ir1;
        sensor_msgs::Range ir2;
        pressure_cells::SenVal ForceVal;
        
        uint ir1_index;
        uint ir2_index;

        uint fsr1_index;
        uint fsr2_index;
        uint fsr3_index;
        uint fsr4_index;
        
        uint lc12_index;
        uint lc34_index;
            
        uint ir_period;
        uint high_rate_period;
        
        boost::asio::deadline_timer ir_timer;
        boost::asio::deadline_timer high_rate_timer;
       
        
        ros::Publisher ir1_publisher;
        ros::Publisher ir2_publisher;

        ros::Publisher ForceVal_publisher;
        
        visualization_msgs::Marker LC_marker;
        visualization_msgs::Marker FSR_marker;

        ros::Publisher LC_marker_pub;
        ros::Publisher FSR_marker_pub;

        ros::NodeHandle nh;
        
        CPhidgetInterfaceKitHandle ifKit;
};

#endif //SIMPLE_H