ros_interface.h

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// Provides a ROS interface for controlling rosmon
// Author: Max Schwarz <max.schwarz@uni-bonn.de>

#ifndef ROS_INTERFACE_H
#define ROS_INTERFACE_H

#include "monitor/monitor.h"
#include "diagnostics_publisher.h"

#include <ros/node_handle.h>

#include <rosmon_msgs/StartStop.h>

namespace rosmon
{

class ROSInterface
{
public:
        ROSInterface(monitor::Monitor* monitor, bool enableDiagnostics=false,
                const std::string& diagnosticsPrefix={}
        );

        void shutdown();
private:
        void update();
        bool handleStartStop(rosmon_msgs::StartStopRequest& req, rosmon_msgs::StartStopResponse& resp);

        monitor::Monitor* m_monitor;

        ros::NodeHandle m_nh;

        ros::WallTimer m_updateTimer;

        ros::Publisher m_pub_state;

        ros::ServiceServer m_srv_startStop;

        bool m_diagnosticsEnabled;
        std::unique_ptr<DiagnosticsPublisher> m_diagnosticsPublisher;
};

}

#endif