controller_updater.h

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/*
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#ifndef CONSTROLLERUPDATER_H
#define CONSTROLLERUPDATER_H

#include <string>
#include <map>
#include <boost/function.hpp>
#include <boost/thread.hpp>
#include <ros/ros.h>
#include <ros/timer.h>

#include "play_motion/datatypes.h"

namespace play_motion
{

  class ControllerUpdater
  {
  public:
    enum ControllerState
    {
      RUNNING,
      STOPPED
    };

    typedef std::map<std::string, ControllerState> ControllerStates;
    typedef std::map<std::string, JointNames>      ControllerJoints;

  private:
    typedef boost::function<void(const ControllerStates& states,
                                 const ControllerJoints& joints)> Callback;

  public:
    ControllerUpdater(ros::NodeHandle nh);
    virtual ~ControllerUpdater();

    void registerUpdateCb(const Callback& cb) { update_cb_ = cb; }

  private:
    void mainLoop();

    ros::NodeHandle    nh_;
    ros::Timer         update_timer_;
    boost::thread      main_thread_;
    Callback           update_cb_;
    ros::ServiceClient cm_client_;
    ControllerStates   last_cstates_;
  };

}

#endif