ArmJointStateSubscriber.h

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#ifndef ARM_COMPONENTS_NAME_MANAGER_ARMJOINTSTATESUBSCRIBER_H
#define ARM_COMPONENTS_NAME_MANAGER_ARMJOINTSTATESUBSCRIBER_H

#ifdef DOXYGEN_SHOULD_SKIP_THIS

#endif

#include <iostream>
#include <sstream>

#include <ros/ros.h>
#include <sensor_msgs/JointState.h>
#include <arm_components_name_manager/ArmComponentsNameManager.h>
#include <baselib_binding/Thread.h>

// #include <convenience_ros_functions/TypedSubscriber.h>

namespace arm_components_name_manager
{

class ArmJointStateSubscriber
{
public:
    ArmJointStateSubscriber(
        const ArmComponentsNameManager& _manager,
        ros::NodeHandle& n,
        const std::string& joint_states_topic);

    ~ArmJointStateSubscriber();

    friend std::ostream& operator<<(std::ostream& o, const ArmJointStateSubscriber& j)
    {
        o << j.toString();
        return o;
    }

    void setActive(bool flag);

    bool waitForUpdate(float timeout=-1, float checkStepTime=0.1) const;

    std::vector<float> armAngles(bool& valid) const;

    std::vector<float> gripperAngles(bool& valid) const;

    std::string toString() const;

    bool isActive() const;
private:
    typedef baselib_binding::unique_lock<baselib_binding::recursive_mutex>::type unique_lock;
    // typedef convenience_ros_functions::TypedSubscriber<sensor_msgs::JointState> JointStateSubscriber;

    void callback(const sensor_msgs::JointState& msg);
//    void process(const ros::TimerEvent& t);

    ros::Time getLastUpdateTime() const;

    // protects all fields which need protecting
    mutable baselib_binding::recursive_mutex mutex;
    bool valid_arm, valid_grippers;

    const ArmComponentsNameManager jointsManager;

    std::vector<float> arm_angles;
    std::vector<float> gripper_angles;

    ros::NodeHandle node;

/*    JointStateSubscriber subscriber;
    ros::Timer update_connection;*/
    ros::Subscriber subscriber;
    bool subscriberActive; 
    ros::Time last_update_time;
};
}  // namespace
#endif  // ARM_COMPONENTS_NAME_MANAGER_ARMJOINTSTATESUBSCRIBER_H