cob_phidgets_sim_node.cpp

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/*
 * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */
 
 
#include <ros/ros.h>
#include <cob_phidgets/SetDataRate.h>
#include <cob_phidgets/SetDigitalSensor.h>
#include <cob_phidgets/SetTriggerValue.h>
 
#include <cob_phidgets/AnalogSensor.h>
#include <cob_phidgets/DigitalSensor.h>
 
class PhidgetIKROSSim
{
public:
        PhidgetIKROSSim()
        {
                _pubAnalog = _nh.advertise<cob_phidgets::AnalogSensor>("analog_sensors", 1);
                _pubDigital = _nh.advertise<cob_phidgets::DigitalSensor>("digital_sensors", 1);
                _subDigital = _nh.subscribe("set_digital_sensor", 1, &PhidgetIKROSSim::onDigitalOutCallback, this);
 
                _srvDigitalOut = _nh.advertiseService("set_digital", &PhidgetIKROSSim::setDigitalOutCallback, this);
                _srvDataRate = _nh.advertiseService("set_data_rate", &PhidgetIKROSSim::setDataRateCallback, this);
                _srvTriggerValue = _nh.advertiseService("set_trigger_value", &PhidgetIKROSSim::setTriggerValueCallback, this);
        };
        ~PhidgetIKROSSim(){};
private:
        ros::NodeHandle _nh;
        ros::Publisher _pubAnalog;
        ros::Publisher _pubDigital;
        ros::Subscriber _subDigital;
        ros::ServiceServer _srvDigitalOut;
        ros::ServiceServer _srvDataRate;
        ros::ServiceServer _srvTriggerValue;
 
        auto onDigitalOutCallback(const cob_phidgets::DigitalSensorConstPtr& msg) -> void
        {
 
        }
        auto setDigitalOutCallback(cob_phidgets::SetDigitalSensor::Request &req,
                                                           cob_phidgets::SetDigitalSensor::Response &res) -> bool
        {
                res.state = req.state;
                res.uri = req.uri;
                return true;
        }
        auto setDataRateCallback(cob_phidgets::SetDataRate::Request &req,
                                                         cob_phidgets::SetDataRate::Response &res) -> bool
        {
                return true;
        }
        auto setTriggerValueCallback(cob_phidgets::SetTriggerValue::Request &req,
                                                                 cob_phidgets::SetTriggerValue::Response &res) -> bool
        {
                return true;
        }
};
 
 
int main(int argc, char **argv)
{
        ros::init(argc, argv, "cob_phidgets_sim");
        PhidgetIKROSSim cob_phidgets_sim;
        ros::spin();
        return 0;
}