Servo_ros.h

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#pragma once
 
#include <ros/ros.h>
#include "VMXPi.h"
#include "vmxpi_utils.h"
#include <thread>
#include <stdio.h>
#include <unistd.h>
#include <sys/syscall.h>
 
#include <std_msgs/Float32.h>
#include <vmxpi_ros/Float.h>
 
class ServoROS : public Utils {
    private:
        VMXIO *io; // IO class of VMXPi
 
        VMXResourceHandle pwmgen_res_handle;
        VMXResourcePortIndex res_port_index;
        
        ros::Publisher servo_angle_pub;
        ros::ServiceServer setangle; // service to set the angle
    
        double maxangle = 150, minangle = -150;
        
        uint16_t mapAngle(double angle); // convert user's input of degrees into a value readable by the HAL
        uint8_t channel_index;
        
        double angle_ = 0;
   
        std::thread runth;
    
    public:
        ServoROS(ros::NodeHandle *nh, VMXPi *vmx, uint8_t channel);
 
        ~ServoROS();
 
        bool SetAngle(vmxpi_ros::Float::Request &req, vmxpi_ros::Float::Response &res); 
 
        double GetAngle() const; // get current angle
 
        double GetMinAngle() const; // get the servo's min angle
 
        double GetMaxAngle() const; // get the servo's max angle
 
        void Run_t();
};