DI_ros.h

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#pragma once
 
#include <ros/ros.h>
#include "VMXPi.h"
#include "vmxpi_utils.h"
#include <vmxpi_ros/FloatRes.h>
 
#include <std_msgs/Float32.h>
 
 
class DigitalInputROS : public Utils {
    private:
        VMXIO *io;
        VMXTime *time;
        uint8_t channel_index;
        VMXResourceHandle digitalin_res_handle;
 
 
        ros::Publisher di_cm_pub, di_in_pub;
 
        std::thread runth;
 
        uint32_t GetRawValue();
    public:
        DigitalInputROS(ros::NodeHandle *nh, VMXPi *vmx, uint8_t channel);
 
        ~DigitalInputROS();
 
        bool Get();
 
        double GetCentimeters(uint32_t diff);
 
        double GetInches(uint32_t diff);
 
        void Run_t();
};