adapter_operation_mode.h

Go to the documentation of this file.

/*
 * Copyright (c) 2019 Pilz GmbH & Co. KG
 *
 * This program 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/>.
 */

#ifndef ADAPTER_OPERATION_MODE_H
#define ADAPTER_OPERATION_MODE_H

#include <mutex>

#include <ros/ros.h>

#include <pilz_msgs/GetOperationMode.h>
#include <pilz_msgs/OperationModes.h>

namespace prbt_hardware_support
{
class AdapterOperationMode
{
public:
  AdapterOperationMode(ros::NodeHandle& nh);
  virtual ~AdapterOperationMode() = default;

protected:
  void updateOperationMode(const pilz_msgs::OperationModes& mode);

private:
  void initOperationModeService();

  bool getOperationMode(pilz_msgs::GetOperationMode::Request& req, pilz_msgs::GetOperationMode::Response& res);

private:
  pilz_msgs::OperationModes op_mode_;

  std::mutex op_mode_mutex_;

  ros::NodeHandle& nh_;

  ros::Publisher operation_mode_pub_;

  ros::ServiceServer operation_mode_server_;
};

}  // namespace prbt_hardware_support
#endif  // ADAPTER_OPERATION_MODE_H