Ultrasonic_ros.h

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#pragma once
 
#include <ros/ros.h>
#include "VMXPi.h"
#include "vmxpi_utils.h"
#include <chrono>
#include <inttypes.h>
#include <sys/syscall.h>
#include <std_msgs/Float32.h>
 
class UltrasonicROS : public Utils {
    private:
        VMXIO *io; // IO class of VMXPi
        VMXTime *time; // Time class of VMXPi
        VMXResourceHandle digitalio_res_handles[2]; 
        
        uint8_t channel_index_out, channel_index_in; // channel indexes for DI and DO
        
        ros::Publisher ultrasonic_cm_pub, ultrasonic_in_pub, ultrasonic_raw_pub;
        
        std::thread ultrasonicth;
        std::thread runth;
        
    public:
        UltrasonicROS(ros::NodeHandle *nh, VMXPi *pi, uint8_t channelout, uint8_t channelin);
 
        ~UltrasonicROS();
 
        double GetDistanceCM(uint32_t diff); // get distance in cm
 
        double GetDistanceIN(uint32_t diff); // get distance in inches
 
        uint32_t GetRawValue(); // get raw value
 
        void Ultrasonic();
 
        void Ultrasonic_t();
 
        void Run_t();
 
};