File content as of revision 3:a4677501ae87:

#ifndef ZETA_STM_KINETIC_INSTANCEHEADER_H_
#define ZETA_STM_KINETIC_INSTANCEHEADER_H_
#include "mbed.h"
#include "src/rosHeader.hpp"
#include "src/moduleHeader.hpp"
#include "src/callbackHeader.hpp"
#include "defineHeader.h"
#include "configurations/robotConfig.h"
/* COM variables ------------------------------------------------------------ */
#if (NO_ROS)
extern mbed::Serial pc;
#else
extern ros::NodeHandle nh;
#endif
extern mbed::Serial bt;

/* ROS variables ------------------------------------------------------------ */
// Publisher
//zetabot_main::SonarArray US_msg;
//ros::Publisher US_publisher("sonar", &US_msg);
std_msgs::String version_msg;
ros::Publisher version_publisher("stm_version", &version_msg);

std_msgs::Float32MultiArray US_msg;
ros::Publisher US_publisher("sonar", &US_msg);

std_msgs::String Bluetooth_msg;
ros::Publisher Bluetooth_publisher("autocharge_state_INO", &Bluetooth_msg);

#if (ROBOT_TYPE == MODEL_D)
//std_msgs::UInt8 water_level_msg;
//ros::Publisher water_level_publisher("water_level", &water_level_msg);
std_msgs::Bool water_level_msg;
ros::Publisher water_level_publisher("water_level", &water_level_msg);
#endif

#if (ROBOT_TYPE == MODEL_I)
std_msgs::Bool lidar_dusty_msg;
ros::Publisher LidarDusty_publisher("LidarDusty", &lidar_dusty_msg);

std_msgs::UInt8 emergency_stop_msg;
ros::Publisher EmergencyStop_publisher("EmergencyStop", &emergency_stop_msg);
#endif

sensor_msgs::Imu imu_msg;
ros::Publisher IMU_publisher("imu", &imu_msg);

std_msgs::Bool EStop_msg;
ros::Publisher EStop_publisher("estop", &EStop_msg);

std_msgs::Bool Bumper_msg;
ros::Publisher Bumper_publisher("bumper", &Bumper_msg);


// Subscriber
void BluetoothCB(const std_msgs::UInt8& msg);
ros::Subscriber<std_msgs::UInt8> Bluetooth_subscriber("autocharge_state_NUC", &BluetoothCB);

void SsrTestCB(const std_msgs::Bool& msg);
ros::Subscriber<std_msgs::Bool> SsrTest_subscriber("SsrControlTest", &SsrTestCB);

#if (ROBOT_TYPE == MODEL_I)
void WarningFieldSelectCB(const std_msgs::UInt8& msg);
ros::Subscriber<std_msgs::UInt8> WarningFieldSelect_subscriber("WarningFieldSelect", &WarningFieldSelectCB);

void IgnoreWarningFieldCB(const std_msgs::UInt8&);
ros::Subscriber<std_msgs::UInt8> IgnoreWarningField_subscriber("IgnoreWarningField", &IgnoreWarningFieldCB);

void ScrubberControlCB(const std_msgs::Bool& msg);
ros::Subscriber<std_msgs::Bool> ScrubberControl_subscriber("ScrubberControl", &ScrubberControlCB);
#endif
/* Threads and Timers ------------------------------------------------------- */
Thread gThread[NUM_THREAD];

Timer waitTmr;


/* Modules ------------------------------------------------------------------ */
MPU9250_SPI mpu(IMU_MOSI, IMU_MISO, IMU_SCK, IMU_NCS, IMU_INT);

#if ((ROBOT_TYPE == MODEL_C) || (ROBOT_TYPE == MODEL_D))
ChargingControl charging_control(CHARGE_RELAYP, CHARGE_RELAYN);
DigitalIn estop(EMERGENCY_STOP);
PinName echo[NUM_SONAR] = {RS_ECH01, RS_ECH02, RS_ECH03, RS_ECH04, RS_ECH05, RS_ECH06, RS_ECH07, RU_ECH01, RU_ECH02, RU_ECH03};
SONAR_MANAGER<NUM_SONAR> sonar_manager(echo, TRIG);
#elif (ROBOT_TYPE == MODEL_I)
PinName echo[NUM_SONAR] = {SONAR_LEFT, SONAR_RIGHT};
SONAR_MANAGER<NUM_SONAR> sonar_manager(echo, SONAR_TRIG);
#endif

#if (ROBOT_TYPE == MODEL_D)
//DigitalIn level_blue(LEVEL_SENSE1);
//DigitalIn level_yellow(LEVEL_SENSE2);
DigitalIn level_sensor(LEVEL_SENSE);
#endif

#if (ROBOT_TYPE == MODEL_I)
DigitalOut ChargingSsr(SSR_CTRL, 0);
DigitalOut ScrubberControl(SCRUBBER_CTRL, 0);
DigitalOut WaringFieldSelectPin1(LIDAR_WARNING1, 1);
DigitalOut WaringFieldSelectPin2(LIDAR_WARNING2, 1);
DigitalOut IgnoreWarningFieldPin1(IGNORE_WARNING1, 0);
DigitalOut IgnoreWarningFieldPin2(IGNORE_WARNING2, 0);
DigitalIn LidarDustSensingPin(LIDAR_DUSTSENSING);
DigitalIn EmergencyStopPin(EMERGENCY_STOP);
DigitalIn LidarStopPin(LIDAR_DETECT_OBSTACLE);
#endif

//EStop estop(EMERGENCY);

/* For test ----------------------------------------------------------------- */

#endif