PluginROS.h
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00036 
00040 #ifndef __PLUGIN_ROS_H__
00041 #define __PLUGIN_ROS_H__
00042 
00043 
00044 #define PLUGIN_CLASS PluginROS
00045 
00046 
00047 // System
00048 #include <cstdlib>
00049 #include <iostream>
00050 #include <algorithm>
00051 
00052 // Boost
00053 #include <boost/thread.hpp>
00054 
00055 // ROS
00056 #include <ros/ros.h>
00057 #include <ros/rate.h>
00058 #include <rosgraph_msgs/Log.h>
00059 #include <ros/callback_queue.h>
00060 
00061 // Designators
00062 #include <designators/CDesignator.h>
00063 #include <designator_integration_msgs/DesignatorCommunication.h>
00064 
00065 // Private
00066 #include <Types.h>
00067 #include <ForwardDeclarations.h>
00068 #include <Plugin.h>
00069 
00070 
00071 namespace beliefstate {
00072   namespace plugins {
00073     class PLUGIN_CLASS : public Plugin {
00074     private:
00075       ros::NodeHandle* m_nhHandle;
00076       ros::ServiceServer m_srvCallback;
00077       ros::Publisher m_pubLoggedDesignators;
00078       ros::Publisher m_pubInteractiveCallback;
00079       ros::Publisher m_pubStatusMessages;
00080       bool m_bStartedSpinning;
00081       ros::AsyncSpinner* m_aspnAsyncSpinner;
00082       bool m_bRoslogMessages;
00083       std::mutex m_mtxGlobalInputLock;
00084       bool m_bFirstContextReceived;
00085       std::mutex m_mtxSpinWorker;
00086       bool m_bKeepSpinning;
00087       boost::thread* m_thrdSpinWorker;
00088       bool m_bSpinWorkerRunning;
00089       std::mutex m_mtxSpinWorkerRunning;
00090       
00091     public:
00092       PLUGIN_CLASS();
00093       ~PLUGIN_CLASS();
00094       
00095       virtual Result init(int argc, char** argv);
00096       virtual Result deinit();
00097       
00098       virtual Result cycle();
00099 
00100       void setKeepSpinning(bool bKeepSpinning);
00101       bool keepSpinning();
00102       void spinWorker();
00103       void setSpinWorkerRunning(bool bSpinWorkerRunning);
00104       bool spinWorkerRunning();
00105       void shutdownSpinWorker();
00106       
00107       bool serviceCallback(designator_integration_msgs::DesignatorCommunication::Request &req, designator_integration_msgs::DesignatorCommunication::Response &res);
00108       
00109       virtual void consumeEvent(Event evEvent);
00110       virtual Event consumeServiceEvent(ServiceEvent seServiceEvent);
00111       
00112       std::string getDesignatorTypeString(CDesignator* desigDesignator);
00113       
00114       void waitForAssuranceToken(std::string strToken);
00115     };
00116   }
00117   
00118   extern "C" plugins::PLUGIN_CLASS* createInstance();
00119   extern "C" void destroyInstance(plugins::PLUGIN_CLASS* icDestroy);
00120 }
00121 
00122 
00123 #endif /* __PLUGIN_ROS_H__ */


beliefstate
Author(s): Jan Winkler
autogenerated on Sun Oct 5 2014 22:30:15