Program Listing for File helpers.hpp

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// Copyright (c) 2023, Fraunhofer IPA
// Copyright (c) 2022, StoglRobotics
// Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template)
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef CANOPEN_ROS2_CONTROL__HELPER_HPP_
#define CANOPEN_ROS2_CONTROL__HELPER_HPP_

#include <cmath>
#include <cstdint>
#include <functional>
#include <limits>

namespace canopen_ros2_control
{
struct TriggerCommand
{
  double command = std::numeric_limits<double>::quiet_NaN();
  double response = std::numeric_limits<double>::quiet_NaN();
  std::function<bool()> trigger_function;

  bool try_trigger()
  {
    if (command == 1.0)
    {
      response = trigger_function() ? 1.0 : 0.0;
      command = std::numeric_limits<double>::quiet_NaN();
      return true;
    }
    command = std::numeric_limits<double>::quiet_NaN();
    return false;
  }
};

}  // namespace canopen_ros2_control
#endif