connection_daemon.h

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/*
 * Copyright 2022 Technical University of Munich, Chair of Materials Handling,
 * Material Flow, Logistics – All Rights Reserved
 * 
 * You may use, distribute and modify this code under the terms of the 3-clause
 * BSD license. You should have received a copy of that license with this file.
 * If not, please write to {kontakt.fml@ed.tum.de}.
 */

#ifndef CONNECTION_DAEMON_H
#define CONNECTION_DAEMON_H
#include <ros/ros.h>
#include <string>
#include <ros/console.h>
#include <std_msgs/Bool.h>
#include "daemon.h"
#include "std_msgs/String.h"
#include "boost/date_time/posix_time/posix_time.hpp"

#include "vda5050_msgs/Connection.h"


class ConnectionDaemon: public Daemon
{
        private:
        vda5050_msgs::Connection connectionMessage;
        ros::Publisher connectionPublisher;
        ros::Subscriber connectionSubscriber;
        ros::Duration updateInterval;
        ros::Time lastUpdateTimestamp;
        public:
        ConnectionDaemon(float heartbeat);

        void LinkSubscriptionTopics(ros::NodeHandle *nh);

        bool CheckPassedTime();

        void PublishConnection();

        void UpdateConnection();

        std::string createPublishTopic();
        
        void ROSConnectionStateCallback(const std_msgs::Bool::ConstPtr& msg);
};
#endif