.. _program_listing_file__tmp_ws_src_rviz_visual_tools_include_rviz_visual_tools_remote_control.hpp:

Program Listing for File remote_control.hpp
===========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rviz_visual_tools_include_rviz_visual_tools_remote_control.hpp>` (``/tmp/ws/src/rviz_visual_tools/include/rviz_visual_tools/remote_control.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2021 PickNik Inc.
   //
   // 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 PickNik Inc. 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 HOLDER 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.
   
   /* Author: Dave Coleman <dave@picknik.ai>
      Desc:   Tool for creating break points and user verification points through
              manipulation pipelines or other live robotic tool.
              Think GDB for robots, or like, a state machine.
   */
   
   #pragma once
   
   // C++
   #include <chrono>
   #include <string>
   #include <mutex>
   #include <condition_variable>
   
   // ROS
   #include <rclcpp/rclcpp.hpp>
   #include <sensor_msgs/msg/joy.hpp>
   #include <utility>
   
   namespace rviz_visual_tools
   {
   typedef std::function<void(bool)> DisplayWaitingState;
   
   class RemoteControl
   {
   public:
     [[deprecated("RemoteControl(const rclcpp::Executor::SharedPtr&, const rclcpp::NodeOptions&) is "
                  "deprecated Use RemoteControl(const rclcpp::NodeOptions&) constructor "
                  "instead")]] explicit RemoteControl(const rclcpp::Executor::SharedPtr& executor,
                                                      const rclcpp::NodeOptions& node_options)
       : RemoteControl(std::make_shared<rclcpp::Node>("remote_control", node_options))
     {
     }
   
     template <typename NodePtr>
     explicit RemoteControl(NodePtr node)
       : RemoteControl(node->get_node_base_interface(), node->get_node_topics_interface(),
                       node->get_node_logging_interface())
     {
     }
   
     explicit RemoteControl(
         const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr& node_base_interface,
         const rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr& topics_interface,
         const rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr& logging_interface);
   
     void rvizDashboardCallback(const sensor_msgs::msg::Joy::ConstSharedPtr msg);  // NOLINT
   
     bool getAutonomous();
     bool getFullAutonomous();
   
     bool getStop();
   
     bool waitForNextStep(const std::string& caption = "go to next step");
     bool waitForNextFullStep(const std::string& caption = "go to next full step");
   
     void setDisplayWaitingState(DisplayWaitingState displayWaitingState)
     {
       displayWaitingState_ = std::move(displayWaitingState);
     }
   
   private:
     void setReadyForNextStep();
   
     void setAutonomous();
     void setFullAutonomous();
   
     void stopAllAutonomous();
   
     bool waitForNextStepCommon(const std::string& caption, bool autonomous);
   
     // Node Interfaces
     rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface_;
     rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr topics_interface_;
     rclcpp::Logger logger_;
   
     // Short name for this class
     std::string name_ = "remote_control";
   
     // Input
     rclcpp::Subscription<sensor_msgs::msg::Joy>::SharedPtr rviz_dashboard_sub_;
   
     bool is_waiting_ = false;
     bool next_step_ready_ = false;
     bool autonomous_ = false;
     bool full_autonomous_ = false;
   
     std::mutex mutex_;
     std::condition_variable wait_next_step_;
   
     // Callback to visualize waiting state
     DisplayWaitingState displayWaitingState_;
   };  // end class
   
   typedef std::shared_ptr<RemoteControl> RemoteControlPtr;
   typedef std::shared_ptr<const RemoteControl> RemoteControlConstPtr;
   
   }  // namespace rviz_visual_tools