00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2012, Southwest Research Institute 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions are met: 00009 * 00010 * * Redistributions of source code must retain the above copyright 00011 * notice, this list of conditions and the following disclaimer. 00012 * * Redistributions in binary form must reproduce the above copyright 00013 * notice, this list of conditions and the following disclaimer in the 00014 * documentation and/or other materials provided with the distribution. 00015 * * Neither the name of the Southwest Research Institute, nor the names 00016 * of its contributors may be used to endorse or promote products derived 00017 * from this software without specific prior written permission. 00018 * 00019 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00020 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00021 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00022 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00023 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00024 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00025 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00026 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00027 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00028 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00029 * POSSIBILITY OF SUCH DAMAGE. 00030 */ 00031 00032 00033 #ifndef ROBOT_STATUS_RELAY_HANDLER_H 00034 #define ROBOT_STATUS_RELAY_HANDLER_H 00035 00036 #include "ros/ros.h" 00037 #include "simple_message/message_handler.h" 00038 #include "simple_message/messages/robot_status_message.h" 00039 00040 00041 namespace industrial_robot_client 00042 { 00043 namespace robot_status_relay_handler 00044 { 00045 00053 class RobotStatusRelayHandler : public industrial::message_handler::MessageHandler 00054 { 00055 // since this class defines a different init(), this helps find the base-class init() 00056 using industrial::message_handler::MessageHandler::init; 00057 00058 public: 00059 00063 RobotStatusRelayHandler() {}; 00064 00065 00073 bool init(industrial::smpl_msg_connection::SmplMsgConnection* connection); 00074 00075 protected: 00076 00077 ros::Publisher pub_robot_status_; 00078 ros::NodeHandle node_; 00079 00087 bool internalCB(industrial::robot_status_message::RobotStatusMessage & in); 00088 00089 private: 00097 bool internalCB(industrial::simple_message::SimpleMessage& in); 00098 }; 00099 00100 } 00101 } 00102 00103 00104 #endif /* ROBOT_STATUS_RELAY_HANDLER_H */