digital_inputs_ros_i.h

Go to the documentation of this file.

/*
 * Copyright (c) 2019, Open Source Robotics Foundation
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the copyright holder nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
 
#ifndef PHIDGETS_DIGITAL_INPUTS_DIGITAL_INPUTS_ROS_I_H
#define PHIDGETS_DIGITAL_INPUTS_DIGITAL_INPUTS_ROS_I_H
 
#include <memory>
#include <mutex>
#include <vector>
 
#include <ros/ros.h>
 
#include "phidgets_api/digital_inputs.h"
 
namespace phidgets {
 
struct ValToPub {
    ros::Publisher pub;
    bool last_val;
};
 
class DigitalInputsRosI final
{
  public:
    explicit DigitalInputsRosI(ros::NodeHandle nh, ros::NodeHandle nh_private);
 
  private:
    std::unique_ptr<DigitalInputs> dis_;
    std::mutex di_mutex_;
    std::vector<ValToPub> val_to_pubs_;
 
    ros::NodeHandle nh_;
    ros::NodeHandle nh_private_;
    void timerCallback(const ros::TimerEvent& event);
    ros::Timer timer_;
    int publish_rate_;
    std::string server_name_;
    std::string server_ip_;
 
    void publishLatest(int index);
 
    void stateChangeCallback(int index, int input_value);
};
 
}  // namespace phidgets
 
#endif  // PHIDGETS_DIGITAL_INPUTS_DIGITAL_INPUTS_ROS_I_H