BotaDeviceDriver.hpp

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#pragma once
 
#include <memory>
 
#include <bota_node/bota_node.hpp>
 
#include <rokubimini_manager/Manager.hpp>
 
namespace bota_device_driver
{
using namespace rokubimini;
 
class BotaDeviceDriver : public bota_node::Node
{
public:
  using NodeHandlePtr = std::shared_ptr<ros::NodeHandle>;
 
  BotaDeviceDriver() = delete;
  explicit BotaDeviceDriver(const NodeHandlePtr& nh);
  ~BotaDeviceDriver() override = default;
 
  bool init() override;
  void cleanup() override;
  bool update(const bota_worker::WorkerEvent& event);
 
private:
  std::unique_ptr<RokubiminiManager> rokubiminiManager_;
  NodeHandlePtr nh_;
};
 
}  // namespace bota_device_driver