text: 
  //  Copyright (c) 2003-2020 Xsens Technologies B.V. or subsidiaries worldwide.
  //  All rights reserved.
  //  
  //  Redistribution and use in source and binary forms, with or without modification,
  //  are permitted provided that the following conditions are met:
  //  
  //  1.	Redistributions of source code must retain the above copyright notice,
  //  	this list of conditions, and the following disclaimer.
  //  
  //  2.	Redistributions in binary form must reproduce the above copyright notice,
  //  	this list of conditions, and the following disclaimer in the documentation
  //  	and/or other materials provided with the distribution.
  //  
  //  3.	Neither the names of the copyright holders nor the names of their contributors
  //  	may be used to endorse or promote products derived from this software without
  //  	specific prior written permission.
  //  
  //  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
  //  EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
  //  MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL
  //  THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
  //  SPECIAL, EXEMPLARY OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT 
  //  OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
  //  HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY OR
  //  TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
  //  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.THE LAWS OF THE NETHERLANDS 
  //  SHALL BE EXCLUSIVELY APPLICABLE AND ANY DISPUTES SHALL BE FINALLY SETTLED UNDER THE RULES 
  //  OF ARBITRATION OF THE INTERNATIONAL CHAMBER OF COMMERCE IN THE HAGUE BY ONE OR MORE 
  //  ARBITRATORS APPOINTED IN ACCORDANCE WITH SAID RULES.
  //  
  
  #ifndef XDAINTERFACE_H
  #define XDAINTERFACE_H
  
  #include <ros/ros.h>
  
  #include "xdacallback.h"
  #include <xstypes/xsportinfo.h>
  
  #include "chrono"
  
  struct XsControl;
  struct XsDevice;
  
  
  class PacketCallback;
  
  class XdaInterface
  {
  public:
  	XdaInterface();
  	~XdaInterface();
  
  	void spinFor(std::chrono::milliseconds timeout);
  	void registerPublishers(ros::NodeHandle &node);
  
  	bool connectDevice();
  	bool prepare();
  	void close();
  
  private:
  	void registerCallback(PacketCallback *cb);
  	bool handleError(std::string error);
  
  	XsControl *m_control;
  	XsDevice *m_device;
  	XsPortInfo m_port;
  	XdaCallback m_xdaCallback;
  	std::list<PacketCallback *> m_callbacks;
  };
  
  #endif
  