From 32d73ba2291700b244aee7f657577d1402dd784a Mon Sep 17 00:00:00 2001
From: Sem van der Hoeven <semmer99@gmail.com>
Date: Mon, 24 Apr 2023 09:41:08 +0000
Subject: [PATCH] add files for multiflex reader

---
 src/object_detection/CMakeLists.txt           |  7 +++
 src/object_detection/src/multiflex_reader.cpp | 45 +++++++++++++++++++
 2 files changed, 52 insertions(+)
 create mode 100644 src/object_detection/src/multiflex_reader.cpp

diff --git a/src/object_detection/CMakeLists.txt b/src/object_detection/CMakeLists.txt
index 1ec53743..035936f4 100644
--- a/src/object_detection/CMakeLists.txt
+++ b/src/object_detection/CMakeLists.txt
@@ -35,8 +35,15 @@ ament_target_dependencies(lidar_reader rclcpp object_detection)
 target_link_libraries(lidar_reader ${TerabeeApi_LIBRARIES})
 target_include_directories(lidar_reader PUBLIC ${TerabeeApi_INCLUDE_DIRS})
 
+add_executable(multiflex_reader src/multiflex_reader.cpp)
+ament_target_dependencies(multiflex_reader rclcpp object_detection)
+
+target_link_libraries(multiflex_reader ${TerabeeApi_LIBRARIES})
+target_include_directories(multiflex_reader PUBLIC ${TerabeeApi_INCLUDE_DIRS})
+
 install(TARGETS
   lidar_reader
+  multiflex_reader
   DESTINATION lib/${PROJECT_NAME}
 )
 
diff --git a/src/object_detection/src/multiflex_reader.cpp b/src/object_detection/src/multiflex_reader.cpp
new file mode 100644
index 00000000..1f5b3e40
--- /dev/null
+++ b/src/object_detection/src/multiflex_reader.cpp
@@ -0,0 +1,45 @@
+#include <chrono>
+#include <functional>
+#include <memory>
+#include <string>
+#include <iostream>
+
+#include "rclcpp/rclcpp.hpp"
+#include "object_detection/msg/lidar_reading.hpp"
+
+#include <terabee/ITerarangerFactory.hpp>
+#include <terabee/ITerarangerTowerEvo.hpp>
+#include <terabee/TowerDistanceData.hpp>
+#include <terabee/ImuData.hpp>
+
+using terabee::ImuData;
+using terabee::ITerarangerTowerEvo;
+using terabee::TowerDistanceData;
+
+using namespace std::chrono_literals;
+
+class MultiflexReader : public rclcpp::Node
+{
+public:
+  MultiflexReader()
+      : Node("multiflex_reader")
+  {
+    //publisher_ = this->create_publisher<object_detection::msg::LidarReading>("drone/object_detection", 10);
+    //timer_ = this->create_wall_timer(500ms, std::bind(&MultiflexReader::read_multiflex_data, this));
+  }
+
+private:
+  void read_multiflex_data()
+  {
+
+  }
+
+};
+
+int main(int argc, char *argv[])
+{
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<MultiflexReader>());
+  rclcpp::shutdown();
+  return 0;
+}