1 // node template
   2 
   3 #ifndef nodeTemplate_H
   4 #define nodeTemplate_H
   5 // nodeTemplate is a template for building ROS nodes with wxWidgets
   6 
   7 #include <wx/wx.h>
   8 #include <ros/node.h>
   9 
  10 
  11 // include node-specific header files here
  12 #include "wxWidgetsNodeTemplate/ROS_Node_Template.h"     //This is our autogenerated msg
  13 #include "serverNode/nodeTemplateServer.h"               // and our autogenerated srv
  14 
  15 using namespace ros;
  16 
  17 class nodeTemplate
  18 {
  19   private:
  20    wxTextCtrl *m_pTextBox;
  21    Node *m_pNode;
  22    wxString m_AdvertiseNodeBusOut, m_SubscribeMonitorNodeBus, m_AdvertiseServiceDataBus;
  23    void initNode();
  24 
  25 
  26    // node-specific service and subscribe callbacks
  27    wxWidgetsNodeTemplate::ROS_Node_Template monitorNodeBus;
  28    wxWidgetsNodeTemplate::ROS_Node_Template nodeBusOut;
  29 
  30    void monitorNodeBusCallback();
  31    bool serviceTemplateCallback(serverNode::nodeTemplateServer::Request  &req,
  32            serverNode::nodeTemplateServer::Response &res );
  33 
  34   public:
  35    nodeTemplate(wxTextCtrl *TextBox);
  36    virtual ~nodeTemplate();
  37 
  38    // node-specific publish method
  39    void Publish();
  40 
  41 
  42 
  43 
  44    // node-specfic routines and variables
  45   private:
  46    // node specific values
  47       wxString m_MessageIn;
  48       uint8_t m_Value8;
  49       uint16_t m_Value16;
  50       uint32_t m_Value32;
  51       uint64_t m_Value64;
  52 
  53 
  54   public:
  55 
  56    // node-specific methods
  57    void setValuesMonitorNodeBus( wxString messageIn, uint8_t Value8, uint16_t Value16, uint32_t Value32, uint64_t Value64);
  58    void getValuesNodeBusOut( wxString *pMessageOut, uint8_t *pValue8, uint16_t *pValue16, uint32_t *pValue32, uint64_t *pValue64);
  59 
  60 };
  61 
  62 
  63 #endif //nodeTemplate_H
  64