// node template

#ifndef nodeTemplate_H
#define nodeTemplate_H
// nodeTemplate is a template for building ROS nodes with wxWidgets

#include <wx/wx.h>
#include <ros/node.h>


// include node-specific header files here
#include "wxWidgetsNodeTemplate/ROS_Node_Template.h"     //This is our autogenerated msg
#include "serverNode/nodeTemplateServer.h"               // and our autogenerated srv

using namespace ros;

class nodeTemplate
{
  private:
   wxTextCtrl *m_pTextBox;
   Node *m_pNode;
   wxString m_AdvertiseNodeBusOut, m_SubscribeMonitorNodeBus, m_AdvertiseServiceDataBus;
   void initNode();


   // node-specific service and subscribe callbacks
   wxWidgetsNodeTemplate::ROS_Node_Template monitorNodeBus;
   wxWidgetsNodeTemplate::ROS_Node_Template nodeBusOut;

   void monitorNodeBusCallback();
   bool serviceTemplateCallback(serverNode::nodeTemplateServer::Request  &req,
           serverNode::nodeTemplateServer::Response &res );

  public:
   nodeTemplate(wxTextCtrl *TextBox);
   virtual ~nodeTemplate();

   // node-specific publish method
   void Publish();




   // node-specfic routines and variables
  private:
   // node specific values
      wxString m_MessageIn;
      uint8_t m_Value8;
      uint16_t m_Value16;
      uint32_t m_Value32;
      uint64_t m_Value64;


  public:

   // node-specific methods
   void setValuesMonitorNodeBus( wxString messageIn, uint8_t Value8, uint16_t Value16, uint32_t Value32, uint64_t Value64);
   void getValuesNodeBusOut( wxString *pMessageOut, uint8_t *pValue8, uint16_t *pValue16, uint32_t *pValue32, uint64_t *pValue64);

};


#endif //nodeTemplate_H