EnablePolicy.hpp

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 *  Created on: 26.06.2013.
 *  Author: Dula Nad
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#ifndef ENABLEPOLICY_HPP_
#define ENABLEPOLICY_HPP_
#include <navcon_msgs/EnableControl.h>
#include <std_msgs/Bool.h>
#include <ros/ros.h>

namespace labust
{
        namespace control
        {
                class EnableServicePolicy
                {
                public:
                        EnableServicePolicy():
                                enable(false)
                        {
                                ros::NodeHandle nh;
                                enableControl = nh.advertiseService("Enable",
                                                &EnableServicePolicy::onEnableControl, this);
                        }

                        bool onEnableControl(navcon_msgs::EnableControl::Request& req,
                                        navcon_msgs::EnableControl::Response& resp)
                        {
                                this->enable = req.enable;
                                return true;
                        }

                protected:
                        bool enable;
                        ros::ServiceServer enableControl;
                };

                class EnableTopicPolicy
                {
                public:
                        EnableTopicPolicy():
                                enable(false)
                        {
                                ros::NodeHandle nh;
                                enableControl = nh.subscribe<std_msgs::Bool>("Enable",1,
                                                &EnableTopicPolicy::onEnableControl, this);
                        }

                        void onEnableControl(const std_msgs::Bool::ConstPtr& req)
                        {
                                this->enable = req->data;
                        }

                protected:
                        bool enable;
                        ros::Subscriber enableControl;
                };
        }
}

/* ENABLEPOLICY_HPP_ */
#endif