.. _program_listing_file__tmp_ws_src_nao_lola_nao_lola_client_include_nao_lola_client_nao_lola_client.hpp:

Program Listing for File nao_lola_client.hpp
============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_nao_lola_nao_lola_client_include_nao_lola_client_nao_lola_client.hpp>` (``/tmp/ws/src/nao_lola/nao_lola_client/include/nao_lola_client/nao_lola_client.hpp``)

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

.. code-block:: cpp

   // Copyright 2021 Kenji Brameld
   //
   // 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 NAO_LOLA_CLIENT__NAO_LOLA_CLIENT_HPP_
   #define NAO_LOLA_CLIENT__NAO_LOLA_CLIENT_HPP_
   
   #include <thread>
   #include <memory>
   #include <mutex>
   #include "rclcpp/rclcpp.hpp"
   #include "nao_lola_sensor_msgs/msg/joint_positions.hpp"
   #include "nao_lola_sensor_msgs/msg/joint_stiffnesses.hpp"
   #include "nao_lola_sensor_msgs/msg/joint_temperatures.hpp"
   #include "nao_lola_sensor_msgs/msg/joint_currents.hpp"
   #include "nao_lola_sensor_msgs/msg/joint_statuses.hpp"
   #include "nao_lola_sensor_msgs/msg/buttons.hpp"
   #include "nao_lola_sensor_msgs/msg/accelerometer.hpp"
   #include "nao_lola_sensor_msgs/msg/gyroscope.hpp"
   #include "nao_lola_sensor_msgs/msg/angle.hpp"
   #include "nao_lola_sensor_msgs/msg/sonar.hpp"
   #include "nao_lola_sensor_msgs/msg/fsr.hpp"
   #include "nao_lola_sensor_msgs/msg/touch.hpp"
   #include "nao_lola_sensor_msgs/msg/battery.hpp"
   #include "nao_lola_sensor_msgs/msg/robot_config.hpp"
   #include "nao_lola_command_msgs/msg/chest_led.hpp"
   #include "nao_lola_command_msgs/msg/left_ear_leds.hpp"
   #include "nao_lola_command_msgs/msg/right_ear_leds.hpp"
   #include "nao_lola_command_msgs/msg/left_eye_leds.hpp"
   #include "nao_lola_command_msgs/msg/right_eye_leds.hpp"
   #include "nao_lola_command_msgs/msg/left_foot_led.hpp"
   #include "nao_lola_command_msgs/msg/right_foot_led.hpp"
   #include "nao_lola_command_msgs/msg/head_leds.hpp"
   #include "nao_lola_command_msgs/msg/sonar_usage.hpp"
   #include "nao_lola_command_msgs/msg/joint_positions.hpp"
   #include "nao_lola_command_msgs/msg/joint_stiffnesses.hpp"
   #include "nao_lola_client/connection.hpp"
   #include "nao_lola_client/msgpack_packer.hpp"
   
   class NaoLolaClient : public rclcpp::Node
   {
   public:
     NaoLolaClient();
     virtual ~NaoLolaClient() {}
   
   private:
     void createPublishers();
     void createSubscriptions();
   
     rclcpp::Publisher<nao_lola_sensor_msgs::msg::Accelerometer>::SharedPtr accelerometer_pub;
     rclcpp::Publisher<nao_lola_sensor_msgs::msg::Angle>::SharedPtr angle_pub;
     rclcpp::Publisher<nao_lola_sensor_msgs::msg::Buttons>::SharedPtr buttons_pub;
     rclcpp::Publisher<nao_lola_sensor_msgs::msg::FSR>::SharedPtr fsr_pub;
     rclcpp::Publisher<nao_lola_sensor_msgs::msg::Gyroscope>::SharedPtr gyroscope_pub;
     rclcpp::Publisher<nao_lola_sensor_msgs::msg::JointPositions>::SharedPtr joint_positions_pub;
     rclcpp::Publisher<nao_lola_sensor_msgs::msg::JointStiffnesses>::SharedPtr joint_stiffnesses_pub;
     rclcpp::Publisher<nao_lola_sensor_msgs::msg::JointTemperatures>::SharedPtr joint_temperatures_pub;
     rclcpp::Publisher<nao_lola_sensor_msgs::msg::JointCurrents>::SharedPtr joint_currents_pub;
     rclcpp::Publisher<nao_lola_sensor_msgs::msg::JointStatuses>::SharedPtr joint_statuses_pub;
     rclcpp::Publisher<nao_lola_sensor_msgs::msg::Sonar>::SharedPtr sonar_pub;
     rclcpp::Publisher<nao_lola_sensor_msgs::msg::Touch>::SharedPtr touch_pub;
     rclcpp::Publisher<nao_lola_sensor_msgs::msg::Battery>::SharedPtr battery_pub;
     rclcpp::Publisher<nao_lola_sensor_msgs::msg::RobotConfig>::SharedPtr robot_config_pub;
   
     rclcpp::Subscription<nao_lola_command_msgs::msg::JointPositions>::SharedPtr joint_positions_sub;
     rclcpp::Subscription<nao_lola_command_msgs::msg::JointStiffnesses>::SharedPtr
       joint_stiffnesses_sub;
     rclcpp::Subscription<nao_lola_command_msgs::msg::ChestLed>::SharedPtr chest_led_sub;
     rclcpp::Subscription<nao_lola_command_msgs::msg::LeftEarLeds>::SharedPtr left_ear_leds_sub;
     rclcpp::Subscription<nao_lola_command_msgs::msg::RightEarLeds>::SharedPtr right_ear_leds_sub;
     rclcpp::Subscription<nao_lola_command_msgs::msg::LeftEyeLeds>::SharedPtr left_eye_leds_sub;
     rclcpp::Subscription<nao_lola_command_msgs::msg::RightEyeLeds>::SharedPtr right_eye_leds_sub;
     rclcpp::Subscription<nao_lola_command_msgs::msg::LeftFootLed>::SharedPtr left_foot_led_sub;
     rclcpp::Subscription<nao_lola_command_msgs::msg::RightFootLed>::SharedPtr right_foot_led_sub;
     rclcpp::Subscription<nao_lola_command_msgs::msg::HeadLeds>::SharedPtr head_leds_sub;
     rclcpp::Subscription<nao_lola_command_msgs::msg::SonarUsage>::SharedPtr sonar_usage_sub;
   
     std::thread receive_thread_;
     Connection connection;
   
     MsgpackPacker packer;
     std::mutex packer_mutex;
   };
   
   #endif  // NAO_LOLA_CLIENT__NAO_LOLA_CLIENT_HPP_