00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, LABUST, UNIZG-FER 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the LABUST nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * Author: Dula Nad 00035 * Created: 12.02.2013. 00036 *********************************************************************/ 00037 #ifndef VEHICLEAPP_HPP_ 00038 #define VEHICLEAPP_HPP_ 00039 #include <labust/vehicles/vehiclesfwd.hpp> 00040 00041 #include <auv_msgs/BodyForceReq.h> 00042 #include <ros/ros.h> 00043 00044 namespace labust 00045 { 00046 namespace vehicles 00047 { 00051 class VehicleApp 00052 { 00053 enum {msgBuf = 10}; 00054 public: 00058 VehicleApp(); 00059 00060 protected: 00067 void loadPlugin(const std::string& pluginName, 00068 const std::string& pluginConfig, 00069 const std::string& pluginId); 00073 void subscribe(const std::string& tauName, const std::string& cmdName); 00077 void publish(const std::string& stateName, const std::string& dataName); 00078 00082 void onTau(const std_msgs::String::ConstPtr& tau); 00086 void onCmd(const std_msgs::String::ConstPtr& cmd); 00087 00091 ros::NodeHandle nhandle, phandle; 00095 ros::Publisher state, data; 00099 ros::Subscriber tau, cmd; 00103 labust::vehicles::VehiclePluginPtr plugin; 00107 labust::vehicles::DriverPtr uuv; 00108 }; 00109 } 00110 } 00111 00112 00113 /* VEHICLEAPP_HPP_ */ 00114 #endif