File content as of revision 5:bf0d8b28771a:

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

/* Libraries */
#include "mbed.h"                   // Mbed RTOS
#include "hcsr04.h"                 // HCSR04 ultrasound sensor libary
#include <math.h>
//#include "SRF05.h"                  // SRF05 ultrasound sensor libary
//#include "SRF05_sp.h"                 // SRF05 single pin ultrasound sensor libary
#include "ros.h"                    // ROS Library
#include "sensor_msgs/Range.h"      // ROS Sensor Messages component
//#include "std_msgs/Char.h"        // ROS Standard Messages component

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

#define USP_CF1  PE_2               // Cliff ultrasound 1 Trigger/Echo
#define USP_CF2  PE_4               // Cliff ultrasound 2 Trigger/Echo
#define USP_CF3  PE_5               // Cliff ultrasound 3 Trigger/Echo
#define USP_CF4  PE_6               // Cliff ultrasound 4 Trigger/Echo

#define USP_CB1  PF_8               // Curb  ultrasound 1 Trigger/Echo
#define USP_CB2  PF_7               // Curb  ultrasound 2 Trigger/Echo
#define USP_CB3  PF_9               // Curb  ultrasound 3 Trigger/Echo
#define USP_CB4  PG_1               // Curb  ultrasound 4 Trigger/Echo

#define ROS_Baud 921600             // 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 (cm)
extern float cfDist2;        // Distance returned by cliff u_sensor2 (cm)
extern float cfDist3;        // Distance returned by cliff u_sensor3 (cm)
extern float cfDist4;        // Distance returned by cliff u_sensor4 (cm)

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

extern float wPeriod;               // Waiting period for the sampling (sec)

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

/* Instantiations */
//SRF05 USS_CF1(USP_CF1,USP_CF1);     // Ultrasound sensor cliff 1
//SRF05 USS_CF2(USP_CF2,USP_CF2);     // Ultrasound sensor cliff 2
//SRF05 USS_CF3(USP_CF3,USP_CF3);     // Ultrasound sensor cliff 3
//SRF05 USS_CF4(USP_CF4,USP_CF4);     // Ultrasound sensor cliff 4
//
//SRF05 USS_CB1(USP_CB1,USP_CB1);     // Ultrasound sensor cliff 1
//SRF05 USS_CB2(USP_CB2,USP_CB2);     // Ultrasound sensor cliff 2
//SRF05 USS_CB3(USP_CB3,USP_CB3);     // Ultrasound sensor cliff 3
HCSR04 USS_CB4(PG_1,PB_11);     // Ultrasound sensor cliff 4

//Serial usbSer(USBTX, USBRX);        // Serial over USB OTG
NodeHandle nh;                      // Instance for ROS Node Handler
Range ultrasound_msg;               // Instance for ROS NavSatFix message

// Instance for ROS publisher (Odometry Message)
Publisher ultrasound_pub("/ultrasound/cb1", &ultrasound_msg); 

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

/* Function Prototypes */
//void myFunctionPrototype();

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