x52_joyext.h

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/*
 * x52_joyext Node
 * by Christian Holl (www.rad-lab.net)
 * License: BSD
 *
 * Have Fun! :-)
 */

/*
 * Modified by Murilo FM (muhrix@gmail.com)
 * 12 Dec 2013
 *
 */

#include <ros/ros.h>

#include <std_msgs/UInt8.h>
#include <boost/thread/mutex.hpp>
#include <string>
#include <inttypes.h>
#include "h4r_x52_joyext/x52_date.h"
#include "h4r_x52_joyext/x52_time.h"
#include "h4r_x52_joyext/x52_led_color.h"
#include "h4r_x52_joyext/x52_mfd.h"

extern "C" {
#include <x52pro.h>
}

#ifndef X52JOYEXT_HPP_
#define X52JOYEXT_HPP_

class X52_JoyExt
{
          ros::NodeHandle &nh;
          ros::Rate *loop_rate;


          bool updateLED[10];
          bool updateLED_b;
          bool updateMFD[3];
          bool updateMFD_b;
          bool updateDate;
          bool updateTime;
          bool updateOffset[2];
          bool updateBrightnessMFD;
          bool updateBrightnessLED;


          uint8_t LED[19];
          std::string mfd_content[3];
          uint8_t Date[3];
          uint8_t Time_24;
          uint8_t Time[2];
          uint8_t Offset[2];
          uint8_t Offset_24[2];
          uint8_t Offset_Inv[2];
          uint8_t brightnessMFD;
          uint8_t brightnessLED;


          ros::Subscriber subleds;
          ros::Subscriber submfd_text;
          ros::Subscriber subdate;
          ros::Subscriber subtime;
          ros::Subscriber subbrightnessMFD;
          ros::Subscriber subbrightnessLED;

          void setLEDs(uint8_t inValue, uint8_t *red, uint8_t *green, bool *update)
          {
                  switch(inValue)
                  {
                  case h4r_x52_joyext::x52_led_color::NO_STATUS_CHANGE:
                          *update=false;
                          break;
                  case h4r_x52_joyext::x52_led_color::OFF:
                          *red=0;
                          *green=0;
                          break;
                  case h4r_x52_joyext::x52_led_color::RED:
                          *red=1;
                          *green=0;
                          break;
                  case h4r_x52_joyext::x52_led_color::GREEN:
                          *red=0;
                          *green=1;
                          break;
                  case h4r_x52_joyext::x52_led_color::YELLOW:
                          *red=1;
                          *green=1;
                          break;
                  default:
                          ROS_WARN("WRONG VALUE (%i) FOR LED FOUND! Value must be in the range of 0-4",inValue);
                          return;
                          break;
                  }
                  *update=true;
          }

        void cb_leds(const h4r_x52_joyext::x52_led_colorConstPtr &msg);
        void cb_mfd_text(const h4r_x52_joyext::x52_mfdConstPtr &msg);
        void cb_date(const h4r_x52_joyext::x52_dateConstPtr &msg);
        void cb_time(const h4r_x52_joyext::x52_timeConstPtr &msg);
        void cb_brighnessMFD(const std_msgs::UInt8ConstPtr &msg);
        void cb_brighnessLED(const std_msgs::UInt8ConstPtr &msg);


public:
        X52_JoyExt(ros::NodeHandle &n);
        virtual ~X52_JoyExt();

        void send_to_joystick();
};

#endif /* X52JOYEXT_HPP_ */