Diff: HLComms.h

Revision:

29:10a5cf37a875

Parent:

28:8e0c502c1a50

Child:

30:6c8eea90735e

--- a/HLComms.h	Wed Feb 06 16:10:18 2019 +0000
+++ b/HLComms.h	Fri Feb 08 18:36:15 2019 +0000
@@ -4,21 +4,22 @@
 #define HLCOMMS_H
 
 // STANDARD IMPORTS
+#include <algorithm>
 // MBED IMPORTS
 #include"mbed.h"
 #include "mbed_events.h"
 // ROS IMPORTS
 #include <ros.h>
+#include <std_msgs/String.h>
 #include <std_msgs/Float32.h>
-#include <std_msgs/Float32MultiArray.h>
+#include <std_msgs/Int16MultiArray.h>
 #include "std_msgs/MultiArrayLayout.h"
 #include "std_msgs/MultiArrayDimension.h"
 // CUSTOM IMPORTS
 #include "MLSettings.h"
 
 struct demands_struct {
-    //double psi_mm[N_CHANNELS];
-    double psi_mm[9];
+    double psi_mm[N_CHANNELS];
     double speed_mmps;
 };
 
@@ -31,8 +32,9 @@
         HLComms(unsigned short int freq_hz);
         //~HLComms(void);
         demands_struct get_demands(void);
+        void send_text_message(char text[]);
         void send_duration_message(double dblTime);
-        void send_sensor_message(double positions[], double pressures[]);
+        void send_sensor_message(unsigned int positions[], unsigned int pressures[]);
     
     private:
     
@@ -43,8 +45,9 @@
         Semaphore _rosReady;
         Semaphore _semSpin;
         ros::NodeHandle _nh;
-        //ros::Subscriber<std_msgs::Float32MultiArray>* _demands_sub;
-        std_msgs::Float32MultiArray _sensor_msg;
+        ros::Publisher* _text_pub;
+        std_msgs::String _text_msg;
+        std_msgs::Int16MultiArray _sensor_msg;
         ros::Publisher* _sensor_pub;
         std_msgs::Float32 _duration_msg;
         ros::Publisher* _duration_pub;
@@ -53,7 +56,7 @@
         
         void ros_main(void);
         void HLComms::releaseSemSpin(void);
-        void receive_demands(const std_msgs::Float32MultiArray &demands_array);
+        void receive_demands(const std_msgs::Int16MultiArray &demands_array);
 
 };