.. _program_listing_file__tmp_ws_src_twist_mux_include_twist_mux_twist_mux.hpp:

Program Listing for File twist_mux.hpp
======================================

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

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

.. code-block:: cpp

   // Copyright 2020 PAL Robotics S.L.
   //
   // 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 PAL Robotics S.L. 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 Enrique Fernandez
    * @author Siegfried Gevatter
    * @author Jeremie Deray
    */
   
   #ifndef TWIST_MUX__TWIST_MUX_HPP_
   #define TWIST_MUX__TWIST_MUX_HPP_
   
   #include <rclcpp/rclcpp.hpp>
   #include <std_msgs/msg/bool.hpp>
   #include <geometry_msgs/msg/twist.hpp>
   
   #include <list>
   #include <memory>
   #include <string>
   
   using std::chrono_literals::operator""s;
   
   namespace twist_mux
   {
   // Forwarding declarations:
   class TwistMuxDiagnostics;
   struct TwistMuxDiagnosticsStatus;
   class VelocityTopicHandle;
   class LockTopicHandle;
   
   class TwistMux : public rclcpp::Node
   {
   public:
     template<typename T>
     using handle_container = std::list<T>;
   
     using velocity_topic_container = handle_container<VelocityTopicHandle>;
     using lock_topic_container = handle_container<LockTopicHandle>;
   
     explicit TwistMux();
     ~TwistMux() = default;
   
     void init();
   
     bool hasPriority(const VelocityTopicHandle & twist);
   
     void publishTwist(const geometry_msgs::msg::Twist::ConstSharedPtr & msg);
   
     void updateDiagnostics();
   
   protected:
     typedef TwistMuxDiagnostics diagnostics_type;
     typedef TwistMuxDiagnosticsStatus status_type;
   
     rclcpp::TimerBase::SharedPtr diagnostics_timer_;
   
     static constexpr std::chrono::duration<int64_t> DIAGNOSTICS_PERIOD = 1s;
   
     std::shared_ptr<velocity_topic_container> velocity_hs_;
     std::shared_ptr<lock_topic_container> lock_hs_;
   
     rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr cmd_pub_;
   
     geometry_msgs::msg::Twist last_cmd_;
   
     template<typename T>
     void getTopicHandles(const std::string & param_name, handle_container<T> & topic_hs);
   
     int getLockPriority();
   
     std::shared_ptr<diagnostics_type> diagnostics_;
     std::shared_ptr<status_type> status_;
   };
   
   }  // namespace twist_mux
   
   #endif  // TWIST_MUX__TWIST_MUX_HPP_