robot_activity_tutorials_minimal_node.cpp

Go to the documentation of this file.

/*********************************************************************
 *
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2018, University of Luxembourg
 *  All rights reserved.
 *
 *  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 University of Luxembourg 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 OWNER 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: Maciej Zurad
 *********************************************************************/
#include <ros/ros.h>
#include <robot_activity/managed_robot_activity.h>

#include <robot_activity_msgs/State.h>
#include <std_srvs/Empty.h>

namespace robot_activity_tutorials
{

class MyRobotActivity : public robot_activity::ManagedRobotActivity
{
public:
  /* Important to inherit the constructor */
  using ManagedRobotActivity::ManagedRobotActivity;
  ~MyRobotActivity()
  {
    ROS_DEBUG_STREAM(getNamespace() << " destructed!");
  }

private:
  void onManagedCreate() override
  {
    subscriber_manager.subscribe("/heartbeat", 1,
                                 &MyRobotActivity::mySubscriberCallback, this);

    service_manager.advertiseService("test",
                                     &MyRobotActivity::myServiceCallback, this);

    auto timer = registerIsolatedTimer(
      std::bind(&MyRobotActivity::myTimerCallback, this), 0.5, true);
  };
  void onManagedTerminate() override {};

  bool onManagedConfigure() override { return true; };
  bool onManagedUnconfigure() override { return true; };

  bool onManagedStart() override { return true; };
  bool onManagedStop() override { return true; };

  bool onManagedResume() override { return true; };
  bool onManagedPause() override { return true; };

  void myTimerCallback()
  {
    ROS_INFO_STREAM(getNamespace() << " Timer Counter: " << counter);
    counter++;
    unsigned int seed = time(NULL);
    float r2 = rand_r(&seed) / (RAND_MAX / 0.10);
    ros::Duration(2.05 - r2).sleep();
  };

  void mySubscriberCallback(boost::shared_ptr<robot_activity_msgs::State const> msg)
  {
    ROS_INFO_STREAM(getNamespace() << " "
                    << msg->node_name << " is in " << unsigned(msg->state));
  };

  bool myServiceCallback(
    std_srvs::Empty::Request& request,
    std_srvs::Empty::Response& response)
  {
    ROS_INFO_STREAM(getNamespace() << " Service called, returning true");
    return true;
  };

  int counter = 0;
};

}  // namespace robot_activity_tutorials

int main(int argc, char *argv[])
{
  using robot_activity_tutorials::MyRobotActivity;

  MyRobotActivity node1(argc, argv, "first");
  node1.init().runAsync();

  MyRobotActivity node2(argc, argv, "second");
  node2.init().runAsync();

  ros::waitForShutdown();
  return 0;
}