Program Listing for File Ros2Emitter.hpp

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#ifndef ROS2_EMITTER_HPP
#define ROS2_EMITTER_HPP

#include <webots_ros2_driver/WebotsNode.hpp>
#include <webots_ros2_driver/plugins/Ros2SensorPlugin.hpp>

#include <webots_ros2_msgs/srv/emitter_send_string.hpp>

namespace webots_ros2_driver {
  class Ros2Emitter : public Ros2SensorPlugin {
  public:
    void step() override;
    void init(webots_ros2_driver::WebotsNode *node, std::unordered_map<std::string, std::string> &parameters) override;

  private:
    // ROS2 service
    rclcpp::Service<webots_ros2_msgs::srv::EmitterSendString>::SharedPtr mSendService;
    void send_callback(const std::shared_ptr<webots_ros2_msgs::srv::EmitterSendString::Request> request,
                       std::shared_ptr<webots_ros2_msgs::srv::EmitterSendString::Response> response);
    // Device
    WbDeviceTag mEmitter;
    // Runtime vars
    std::string mDeviceName;
    int mDeviceChannel;
  };

}  // namespace webots_ros2_driver

#endif