priority_mux.h

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#pragma once
 
// SPDX-License-Identifier: BSD-3-Clause
// SPDX-FileCopyrightText: Czech Technical University in Prague
 
#include <list>
#include <map>
#include <memory>
#include <string>
#include <unordered_map>
#include <unordered_set>
#include <utility>
 
#include <std_msgs/Bool.h>
#include <topic_tools/shape_shifter.h>
 
#include <cras_cpp_common/nodelet_utils.hpp>
#include <cras_cpp_common/optional.hpp>
#include <cras_topic_tools/priority_mux_base.h>
#include <cras_topic_tools/shape_shifter.h>
 
namespace cras
{
 
class PriorityMuxNodelet : public ::cras::Nodelet
{
protected:
  void onInit() override;
 
  virtual void cb(const ::std::string& inTopic, const ::ros::MessageEvent<::topic_tools::ShapeShifter const>& event);
 
  virtual void lockCb(const ::std::string& topic, const ::ros::MessageEvent<::std_msgs::Bool const>& event);
 
  virtual void disableCb(const ::std::string& inTopic,
                         bool invert,
                         const ::ros::MessageEvent<::topic_tools::ShapeShifter const>& event);
 
  virtual void resetCb(const ::ros::MessageEvent<::topic_tools::ShapeShifter const>& event);
 
  void publishChanges();
 
  void onTimeout(const ::std::string& name, const ::ros::TimerEvent&);
 
  void setTimer(const ::std::string& name, const ::ros::Duration& timeout);
 
  void reset();
 
  ::std::unique_ptr<::cras::PriorityMux> mux;
 
  ::std::list<::ros::Subscriber> subscribers;
 
  ::std::unordered_map<::std::string, ::ros::Publisher> publishers;
 
  ::ros::Publisher activePriorityPub;
 
  ::std::unordered_map<::std::string, ::ros::Publisher> selectedPublishers;
 
  ::ros::Subscriber resetSub;
 
  ::std::unordered_map<::std::string, ::ros::Timer> timers;
 
  ::std::unordered_map<::std::string, ::cras::priority_mux::TopicConfig> topicConfigs;
 
  ::std::unordered_map<::std::string, ::cras::priority_mux::LockConfig> lockConfigs;
 
  std::unordered_map<std::string, ::cras::priority_mux::OutputTopicConfig> outTopicConfigs;
 
  ::std::unordered_set<::std::string> outTopics;
 
  ::cras::optional<int> lastActivePriority;
 
  ::std::unordered_map<::std::string, ::std::string> lastSelectedTopics;
 
  ::std::unordered_map<::std::string, ::ros::MessageEvent<::cras::ShapeShifter>> beforeDisableMessages;
 
  ::std::unordered_set<::std::string> beforeDisableMessagesWithHeader;
 
  size_t queueSize {10u};
 
  bool tcpNoDelay {false};
};
 
}