Program Listing for File rt_usb_9axisimu_driver_component.hpp

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/*
 * rt_usb_9axisimu_driver_component.hpp
 *
 * License: BSD-3-Clause
 *
 * Copyright (c) 2015-2020 RT Corporation <support@rt-net.jp>
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 *    this list of conditions and the following disclaimer.
 * 2. 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.
 * 3. Neither the name of RT Corporation 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.
 */

#ifndef RT_USB_9AXISIMU_DRIVER__RT_USB_9AXISIMU_DRIVER_COMPONENT_HPP_
#define RT_USB_9AXISIMU_DRIVER__RT_USB_9AXISIMU_DRIVER_COMPONENT_HPP_

#include <memory>
#include <string>
#include <vector>

#include "rt_usb_9axisimu_driver/visibility_control.h"
#include "rt_usb_9axisimu_driver/rt_usb_9axisimu_driver.hpp"
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
#include "rclcpp_lifecycle/lifecycle_publisher.hpp"
#include "sensor_msgs/msg/imu.hpp"
#include "sensor_msgs/msg/magnetic_field.hpp"
#include "std_msgs/msg/float64.hpp"

namespace rt_usb_9axisimu_driver
{
class Driver : public rclcpp_lifecycle::LifecycleNode
{
public:
  RT_USB_9AXISIMU_DRIVER_PUBLIC
  explicit Driver(const rclcpp::NodeOptions & options);

protected:
  void on_publish_timer();

private:
  std::unique_ptr<RtUsb9axisimuRosDriver> driver_;

  std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<sensor_msgs::msg::Imu>> imu_data_raw_pub_;
  std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<sensor_msgs::msg::MagneticField>>
  imu_mag_pub_;
  std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<std_msgs::msg::Float64>>
  imu_temperature_pub_;
  rclcpp::TimerBase::SharedPtr publish_timer_;

  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 &);
  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
  on_error(const rclcpp_lifecycle::State &);
};

}  // namespace rt_usb_9axisimu_driver

#endif  // RT_USB_9AXISIMU_DRIVER__RT_USB_9AXISIMU_DRIVER_COMPONENT_HPP_