digital_outputs_ros_i.h

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/*
 * 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
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#ifndef PHIDGETS_DIGITAL_OUTPUTS_DIGITAL_OUTPUTS_ROS_I_H
#define PHIDGETS_DIGITAL_OUTPUTS_DIGITAL_OUTPUTS_ROS_I_H
 
#include <memory>
#include <string>
#include <vector>
 
#include <ros/ros.h>
#include <std_msgs/Bool.h>
 
#include "phidgets_api/digital_outputs.h"
#include "phidgets_msgs/SetDigitalOutput.h"
 
namespace phidgets {
 
class DigitalOutputSetter final
{
  public:
    explicit DigitalOutputSetter(DigitalOutputs* dos, int index,
                                 ros::NodeHandle nh,
                                 const std::string& topicname);
 
  private:
    void setMsgCallback(const std_msgs::Bool::ConstPtr& msg);
    ros::Subscriber subscription_;
    DigitalOutputs* dos_;
    int index_;
};
 
class DigitalOutputsRosI final
{
  public:
    explicit DigitalOutputsRosI(ros::NodeHandle nh, ros::NodeHandle nh_private);
 
  private:
    std::unique_ptr<DigitalOutputs> dos_;
    std::vector<std::unique_ptr<DigitalOutputSetter>> out_subs_;
 
    ros::NodeHandle nh_;
    ros::NodeHandle nh_private_;
    ros::ServiceServer out_srv_;
    std::string server_name_;
    std::string server_ip_;
 
    bool setSrvCallback(phidgets_msgs::SetDigitalOutput::Request& req,
                        phidgets_msgs::SetDigitalOutput::Response& res);
};
 
}  // namespace phidgets
 
#endif  // PHIDGETS_DIGITAL_OUTPUTS_DIGITAL_OUTPUTS_ROS_I_H