DO_ros.h

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#pragma once
 
#include <ros/ros.h>
#include "VMXPi.h"
#include "vmxpi_utils.h"
#include <std_srvs/Empty.h>
#include <vmxpi_ros/Int.h>
 
class DigitalOutputROS : public Utils {
    private:
        VMXIO *io; // IO class of the VMXPi
        VMXTime *time; // Time class of the VMXPi
        uint8_t channel_index;
        uint32_t senduS;
        
        VMXResourceHandle digitalout_res_handle;
 
        // services to enable the ping loop and set the duration of the ping
        ros::ServiceServer sendPing, setuS;
    public:
        DigitalOutputROS(ros::NodeHandle *nh, VMXPi *vmx, uint8_t channel);
 
        // function to send a ping in 100ms intervals
        bool Ping(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res);
 
        // set the ping's duration
        bool SetDuration(vmxpi_ros::Int::Request &req, vmxpi_ros::Int::Response &res);
        
};