Sharp_ros.h

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#pragma once
 
#include <ros/ros.h>
#include "VMXPi.h"
#include "vmxpi_utils.h"
#include <std_msgs/Float32.h>
#include <thread>
#include <unistd.h>
#include <sys/syscall.h>
 
class SharpROS : public Utils {
    private:
        VMXIO *io; // IO class of VMXPi
        VMXResourceHandle accumulator_res_handle;
        uint8_t analog_in_chan_index;
        
        ros::Publisher sharp_dist_pub, raw_voltage_pub;
        
        std::thread runth;
    
    
    public:
        // first channel input
        SharpROS(ros::NodeHandle *nh, VMXPi *vmx);
 
        // specify channel input
        SharpROS(ros::NodeHandle *nh, VMXPi *vmx, uint8_t channel);
 
        ~SharpROS();
 
        double GetIRDistance(); // get distance in cm
 
        double GetRawVoltage(); // get raw voltage
 
        void Run_t();
};