File content as of revision 8:49306a01c52a:

#ifndef __PROJ515_H__ //Inclusion safeguards
#define __PROJ515_H__ //Definition of the inclusion
/*============================================================================*/

/* Libraries */
#include "mbed.h"                   // Mbed RTOS
#include "SRF05.h"                  // SRF05 ultrasound sensor custom libary
#include "ros.h"                    // ROS Library
#include "sensor_msgs/Range.h"      // ROS Sensor Messages component

/* Definitions */
#define LEDS_OFF 0x00               // LED bus all off
#define LEDS_ON  0x07               // LED bus all on

#define USP_CF1T  PG_1              // Cliff ultrasound 1 Trigger
#define USP_CF1E  PB_11             // Cliff ultrasound 1 Echo
#define USP_CF2T  PF_9              // Cliff ultrasound 2 Trigger
#define USP_CF2E  PB_10             // Cliff ultrasound 2 Echo
#define USP_CF3T  PF_7              // Cliff ultrasound 3 Trigger
#define USP_CF3E  PE_15             // Cliff ultrasound 3 Echo
#define USP_CF4T  PF_8              // Cliff ultrasound 4 Trigger
#define USP_CF4E  PE_12             // Cliff ultrasound 4 Echo

#define USP_CB1T  PE_6              // Curb  ultrasound 1 Trigger
#define USP_CB1E  PE_7              // Curb  ultrasound 1 Echo
#define USP_CB2T  PE_5              // Curb  ultrasound 2 Trigger
#define USP_CB2E  PE_8              // Curb  ultrasound 2 Echo
#define USP_CB3T  PE_4              // Curb  ultrasound 3 Trigger
#define USP_CB3E  PG_9              // Curb  ultrasound 3 Echo
#define USP_CB4T  PE_2              // Curb  ultrasound 4 Trigger
#define USP_CB4E  PG_14             // Curb  ultrasound 4 Echo

#define FOV 1.396                   // Ultrasound sensor field of view
#define MIN_RANGE 0.2               // Ultrasound sensor min range
#define MAX_RANGE 2.5               // Ultrasound sensor max range
#define CLIFF_TRH 0.1               // Robot cliff treshold
#define CLIFF_ZRO 0                 // Cliff not existent
#define EXCL_ZONE 0.255             // Robot footprint exclusion zone

#define ROS_Baud 460800             // ROS Baud Rate
#define frameID "ultrasound_range"  // ROS frame ID

#define ULTRASOUND 0x00             // Ultrasound
#define PRINT_DATA 0x01             // Thread communication event to print data 

/* Namespaces */
using namespace std;                // Make all std symbols visible
using namespace ros;                // Make all ros symbols visible
using namespace sensor_msgs;        // Make all sensor_msgs symbols visible
using namespace std_msgs;           // Make all sdt_msgs symbols visible

/* Declarations */
extern float cfDist1;               // Distance returned by cliff u_sensor1 (m)
extern float cfDist2;               // Distance returned by cliff u_sensor2 (m)
extern float cfDist3;               // Distance returned by cliff u_sensor3 (m)
extern float cfDist4;               // Distance returned by cliff u_sensor4 (m)

extern float cbDist1;               // Distance returned by curb  u_sensor1 (m)
extern float cbDist2;               // Distance returned by curb  u_sensor2 (m)
extern float cbDist3;               // Distance returned by curb  u_sensor3 (m)
extern float cbDist4;               // Distance returned by curb  u_sensor4 (m)

extern float wPeriod;               // Wait period(ms) for ROS publisher

/* GPIO */
DigitalIn bttn(USER_BUTTON);        // Onboard blue user button
BusOut leds(LED1, LED2, LED3);      // Onboard LEDs bus

/* Instantiations */
// Instance for ultrasound sensors
SRF05 USS_CF1(USP_CF1T, USP_CF1E);  // Ultrasound sensor cliff 1
SRF05 USS_CF2(USP_CF2T, USP_CF2E);  // Ultrasound sensor cliff 2
SRF05 USS_CF3(USP_CF3T, USP_CF3E);  // Ultrasound sensor cliff 3
SRF05 USS_CF4(USP_CF4T, USP_CF4E);  // Ultrasound sensor cliff 4

SRF05 USS_CB1(USP_CB1T, USP_CB1E);  // Ultrasound sensor cliff 1
SRF05 USS_CB2(USP_CB2T, USP_CB2E);  // Ultrasound sensor cliff 2
SRF05 USS_CB3(USP_CB3T, USP_CB3E);  // Ultrasound sensor cliff 3
SRF05 USS_CB4(USP_CB4T, USP_CB4E);  // Ultrasound sensor cliff 4

// Instance for ROS node and messages
NodeHandle nh;                      // Instance for ROS Node Handler

Range ultrasound_msg_cf1;           // Instance for ROS NavSatFix message 1
Range ultrasound_msg_cf2;           // Instance for ROS NavSatFix message 2
Range ultrasound_msg_cf3;           // Instance for ROS NavSatFix message 3
Range ultrasound_msg_cf4;           // Instance for ROS NavSatFix message 4
Range ultrasound_msg_cb1;           // Instance for ROS NavSatFix message 5
Range ultrasound_msg_cb2;           // Instance for ROS NavSatFix message 6
Range ultrasound_msg_cb3;           // Instance for ROS NavSatFix message 7
Range ultrasound_msg_cb4;           // Instance for ROS NavSatFix message 8

// Instance for ROS publishers (Range message for cliff and curb sensors)
Publisher ultrasound_pub_cf1("ultrasound/cf1", &ultrasound_msg_cf1); 
Publisher ultrasound_pub_cf2("ultrasound/cf2", &ultrasound_msg_cf2); 
Publisher ultrasound_pub_cf3("ultrasound/cf3", &ultrasound_msg_cf3); 
Publisher ultrasound_pub_cf4("ultrasound/cf4", &ultrasound_msg_cf4); 
Publisher ultrasound_pub_cb1("ultrasound/cb1", &ultrasound_msg_cb1); 
Publisher ultrasound_pub_cb2("ultrasound/cb2", &ultrasound_msg_cb2); 
Publisher ultrasound_pub_cb3("ultrasound/cb3", &ultrasound_msg_cb3); 
Publisher ultrasound_pub_cb4("ultrasound/cb4", &ultrasound_msg_cb4); 

/* Threads and Signals */
//Thread myThread (osPriorityNormal);
//EventFlags myEventFlag;

/* Function Prototypes */
void startSensors();                // Start the Sensors
void recordDist();                  // Record the Distances (meters)
void checkCliff();                  // Check the Cliff Sensors Readings
void advRosPub();                   // Adverstise Ultrasound Topic
void setupRosMsg();                 // Setup the message constant values
void setRosDist();                  // Put distance in ROS messages
void setRosStamp();                 // Put time into ROS messages
void publishRosMsg();               // Publish ROS messages

/*============================================================================*/
#endif // End of inclusion