leuze_speed_limit_alg_node.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _leuze_speed_limit_alg_node_h_
#define _leuze_speed_limit_alg_node_h_

#include <iri_base_algorithm/iri_base_algorithm.h>
#include "leuze_speed_limit_alg.h"

// [publisher subscriber headers]
#include <iri_common_drivers_msgs/leuze_status.h>

// [service client headers]
#include <iri_diff_local_planner/change_max_vel.h>
#include <iri_common_drivers_msgs/change_wp_pair.h>

// [action server client headers]

#include "leuze_laser.h"

class LeuzeSpeedLimitAlgNode : public algorithm_base::IriBaseAlgorithm<LeuzeSpeedLimitAlgorithm>
{
  private:
    // [publisher attributes]

    // [subscriber attributes]
    ros::Subscriber leuze_status_subscriber_;
    void leuze_status_callback(const iri_common_drivers_msgs::leuze_status::ConstPtr& msg);
    CMutex leuze_status_mutex_;
    bool new_status;

    // [service attributes]

    // [client attributes]
    ros::ServiceClient change_speed_client_;
    iri_diff_local_planner::change_max_vel change_speed_srv_;
    ros::ServiceClient change_zone_client_;
    iri_common_drivers_msgs::change_wp_pair change_zone_srv_;

    // [action server attributes]

    // [action client attributes]

    // status information
    bool warning;
    bool error;
    pairs_t current_pair;
    pairs_t new_pair;
 
    // speed configuration
    std::vector<double> zone_speeds;

  public:
    LeuzeSpeedLimitAlgNode(void);

    ~LeuzeSpeedLimitAlgNode(void);

  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

    // [diagnostic functions]
    
    // [test functions]
};

#endif