operation_mode_setup_executor.h

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/*
 * Copyright (c) 2019 Pilz GmbH & Co. KG
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.

 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License for more details.

 * You should have received a copy of the GNU Lesser General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#ifndef OPERATION_MODE_SETUP_EXECUTOR_H
#define OPERATION_MODE_SETUP_EXECUTOR_H

#include <atomic>

#include <ros/ros.h>

#include <prbt_hardware_support/OperationModes.h>
#include <prbt_hardware_support/GetSpeedOverride.h>
#include <prbt_hardware_support/set_speed_limit_func_decl.h>
#include <prbt_hardware_support/get_operation_mode_func_decl.h>


namespace prbt_hardware_support
{

class OperationModeSetupExecutor
{
public:
  OperationModeSetupExecutor(const double& speed_limit_t1,
                             const double& speed_limit_auto,
                             const SetSpeedLimitFunc& set_speed_limit_func);

public:
  void updateOperationMode(const OperationModes& operation_mode);

  bool getSpeedOverride(GetSpeedOverride::Request& /*req*/, GetSpeedOverride::Response& response);

private:
  const double speed_limit_t1_;
  const double speed_limit_auto_;

  std::atomic<double> speed_override_{0.0};

  SetSpeedLimitFunc set_speed_limit_func_;
  ros::Time time_stamp_last_op_mode_ {ros::Time(0)};
};


} // namespace prbt_hardware_support

#endif // OPERATION_MODE_SETUP_EXECUTOR_H