.. _program_listing_file__tmp_ws_src_raspimouse2_raspimouse_include_raspimouse_raspimouse_component.hpp:

Program Listing for File raspimouse_component.hpp
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|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_raspimouse2_raspimouse_include_raspimouse_raspimouse_component.hpp>` (``/tmp/ws/src/raspimouse2/raspimouse/include/raspimouse/raspimouse_component.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2018 Geoffrey Biggs, AIST
   //
   // 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 RASPIMOUSE__RASPIMOUSE_COMPONENT_HPP_
   #define RASPIMOUSE__RASPIMOUSE_COMPONENT_HPP_
   
   #if __cplusplus
   extern "C" {
   #endif
   
   // The below macros are taken from https://gcc.gnu.org/wiki/Visibility and from
   // demos/composition/include/composition/visibility_control.h at https://github.com/ros2/demos
   #if defined _WIN32 || defined __CYGWIN__
     #ifdef __GNUC__
       #define RASPIMOUSE_EXPORT __attribute__ ((dllexport))
       #define RASPIMOUSE_IMPORT __attribute__ ((dllimport))
     #else
       #define RASPIMOUSE_EXPORT __declspec(dllexport)
       #define RASPIMOUSE_IMPORT __declspec(dllimport)
     #endif
     #ifdef RASPIMOUSE_BUILDING_DLL
       #define RASPIMOUSE_PUBLIC RASPIMOUSE_EXPORT
     #else
       #define RASPIMOUSE_PUBLIC RASPIMOUSE_IMPORT
     #endif
     #define RASPIMOUSE_PUBLIC_TYPE RASPIMOUSE_PUBLIC
     #define RASPIMOUSE_LOCAL
   #else
     #define RASPIMOUSE_EXPORT __attribute__ ((visibility("default")))
     #define RASPIMOUSE_IMPORT
     #if __GNUC__ >= 4
       #define RASPIMOUSE_PUBLIC __attribute__ ((visibility("default")))
       #define RASPIMOUSE_LOCAL  __attribute__ ((visibility("hidden")))
     #else
       #define RASPIMOUSE_PUBLIC
       #define RASPIMOUSE_LOCAL
     #endif
     #define RASPIMOUSE_PUBLIC_TYPE
   #endif
   
   #if __cplusplus
   }  // extern "C"
   #endif
   
   #include <tf2_ros/transform_broadcaster.h>
   #include <tf2/LinearMath/Quaternion.h>
   
   #include <memory>
   
   #include <rclcpp/rclcpp.hpp>
   #include <rclcpp_lifecycle/lifecycle_node.hpp>
   #include <rclcpp_lifecycle/lifecycle_publisher.hpp>
   #include <rclcpp/time.hpp>
   #include <std_msgs/msg/int16.hpp>
   #include <std_srvs/srv/set_bool.hpp>
   #include <nav_msgs/msg/odometry.hpp>
   
   #include <raspimouse_msgs/msg/leds.hpp>
   #include <raspimouse_msgs/msg/switches.hpp>
   #include <raspimouse_msgs/msg/light_sensors.hpp>
   
   
   namespace raspimouse
   {
   
   class Raspimouse : public rclcpp_lifecycle::LifecycleNode
   {
   public:
     RASPIMOUSE_PUBLIC
     explicit Raspimouse(const rclcpp::NodeOptions & options);
     ~Raspimouse(void);
   
   private:
     rclcpp::Clock ros_clock_;
     std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<nav_msgs::msg::Odometry>>
     odom_pub_;
     nav_msgs::msg::Odometry odom_;
     std::shared_ptr<tf2_ros::TransformBroadcaster> odom_transform_broadcaster_;
     geometry_msgs::msg::TransformStamped odom_transform_;
     rclcpp::TimerBase::SharedPtr odom_timer_;
     rclcpp::Time last_odom_time_;
     double linear_velocity_;
     double angular_velocity_;
     double odom_theta_;
     bool use_pulse_counters_;
     int last_pulse_count_left_;
     int last_pulse_count_right_;
   
     rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr velocity_sub_;
     rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr power_service_;
     rclcpp::TimerBase::SharedPtr watchdog_timer_;
   
     std::shared_ptr<std::ofstream> power_control_;
     std::shared_ptr<std::ofstream> left_motor_control_;
     std::shared_ptr<std::ofstream> right_motor_control_;
   
     std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<
         raspimouse_msgs::msg::Switches>> switches_pub_;
     std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<
         raspimouse_msgs::msg::LightSensors>> light_sensors_pub_;
     rclcpp::Subscription<raspimouse_msgs::msg::Leds>::SharedPtr leds_sub_;
     rclcpp::Subscription<std_msgs::msg::Int16>::SharedPtr buzzer_sub_;
     rclcpp::TimerBase::SharedPtr switches_timer_;
     rclcpp::TimerBase::SharedPtr light_sensors_timer_;
   
     std::shared_ptr<std::ofstream> led0_output_;
     std::shared_ptr<std::ofstream> led1_output_;
     std::shared_ptr<std::ofstream> led2_output_;
     std::shared_ptr<std::ofstream> led3_output_;
     std::shared_ptr<std::ofstream> buzzer_output_;
   
     rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
     on_configure(const rclcpp_lifecycle::State &);
     rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
     on_activate(const rclcpp_lifecycle::State &);
     rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
     on_deactivate(const rclcpp_lifecycle::State &);
     rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
     on_cleanup(const rclcpp_lifecycle::State &);
     rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
     on_shutdown(const rclcpp_lifecycle::State &);
   
     void release_pointers();
     void publish_odometry();
     void publish_switches();
     void publish_light_sensors();
   
     void velocity_command(const geometry_msgs::msg::Twist::SharedPtr msg);
     void leds_command(const raspimouse_msgs::msg::Leds::SharedPtr msg);
     void buzzer_command(const std_msgs::msg::Int16::SharedPtr msg);
   
     void handle_motor_power(
       const std::shared_ptr<rmw_request_id_t> request_header,
       const std::shared_ptr<std_srvs::srv::SetBool::Request> request,
       const std::shared_ptr<std_srvs::srv::SetBool::Response> response);
     void watchdog();
     void set_motor_power(bool value);
     void stop_motors();
     void calculate_odometry_from_pulse_counts(double & x, double & y, double & theta);
     void estimate_odometry(double & x, double & y, double & theta);
   };
   
   }  // namespace raspimouse
   
   #endif  // RASPIMOUSE__RASPIMOUSE_COMPONENT_HPP_