brake_test_executor.h
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1 /*
2  * Copyright (c) 2019 Pilz GmbH & Co. KG
3  *
4  * This program is free software: you can redistribute it and/or modify
5  * it under the terms of the GNU Lesser General Public License as published by
6  * the Free Software Foundation, either version 3 of the License, or
7  * (at your option) any later version.
8 
9  * This program is distributed in the hope that it will be useful,
10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12  * GNU Lesser General Public License for more details.
13 
14  * You should have received a copy of the GNU Lesser General Public License
15  * along with this program. If not, see <http://www.gnu.org/licenses/>.
16  */
17 
18 #ifndef PRBT_HARDWARE_SUPPORT_BRAKE_TEST_EXECUTOR_H
19 #define PRBT_HARDWARE_SUPPORT_BRAKE_TEST_EXECUTOR_H
20 
21 #include <functional>
22 #include <stdexcept>
23 #include <string>
24 
25 #include <ros/ros.h>
26 
27 #include <pilz_msgs/BrakeTest.h>
28 
29 #include <prbt_hardware_support/BrakeTest.h>
30 
31 namespace prbt_hardware_support
32 {
33 using DetectRobotMotionFunc = std::function<bool()>;
34 using ControllerHoldFunc = std::function<void()>;
35 using TriggerBrakeTestFunc = std::function<BrakeTest::Response()>;
36 using ControllerUnholdFunc = std::function<void()>;
37 using BrakeTestResultFunc = std::function<bool(const bool)>;
38 
39 class BrakeTestExecutorException : public std::runtime_error
40 {
41 public:
42  BrakeTestExecutorException(const std::string& what_arg) : std::runtime_error(what_arg)
43  {
44  }
45 };
46 
53 {
54 public:
55  BrakeTestExecutor(DetectRobotMotionFunc&& detect_robot_motion_func, ControllerHoldFunc&& controller_hold_func,
56  TriggerBrakeTestFunc&& trigger_brake_test_func, ControllerUnholdFunc&& unhold_func,
57  BrakeTestResultFunc&& brake_test_result_fun);
58 
59 public:
60  bool executeBrakeTest(pilz_msgs::BrakeTest::Request& req, pilz_msgs::BrakeTest::Response& response);
61 
62 private:
68 };
69 
70 } // namespace prbt_hardware_support
71 #endif // PRBT_HARDWARE_SUPPORT_BRAKE_TEST_EXECUTOR_H
std::function< void()> ControllerHoldFunc
std::function< BrakeTest::Response()> TriggerBrakeTestFunc
std::function< bool(const bool)> BrakeTestResultFunc
Triggers execution of brake tests only if the controller is not executing a trajectory.
std::function< bool()> DetectRobotMotionFunc
std::function< void()> ControllerUnholdFunc
const std::string response


prbt_hardware_support
Author(s):
autogenerated on Thu Oct 22 2020 03:16:04