#include <ros/ros.h>
#include <mutex>
#include <boost/asio.hpp>
#include <iostream>
#include <fstream>
#include <sstream>
#include <string>
#include <cstdint>
#include "type.h"
#include <queue>
#include <chrono>
#include <libusb-1.0/libusb.h>
#ifndef UWB_H
#define UWB_H

#define PI acos(-1)
namespace uwb_slam{

    class Uwb
    {
    public:
        Uwb();
        ~Uwb();
        void Run();
        void usb_hid_read();
        
    public:
        uint8_t tmpdata[13];
        int d[3];
       
        Uwb_data uwb_data_;

        libusb_device_handle *dev_handle;
        libusb_device **devs;
        libusb_context *ctx = NULL;
        int r;
        ssize_t cnt;
    
    };

};



#endif
