fadecandy_driver_ros.h

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/*
 * Copyright (c) 2021 Eurotec, Netherlands
 * All rights reserved.
 *
 * Author: Jad Haj Mustafa
 *
 * 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 the copyright holder 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 HOLDER 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;
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#include <diagnostic_updater/diagnostic_updater.h>
#include <fadecandy_msgs/LEDArray.h>
#include <ros/publisher.h>
#include <ros/subscriber.h>

#include "../fadecandy_driver.h"

namespace fadecandy_driver
{
class FadecandyDriverROS
{
public:
  FadecandyDriverROS(double restart_patience);

  void run();

private:
  FadecandyDriver driver_;

  void setupConnection();

  ros::Subscriber led_subscriber_;
  void setLedsCallback(const fadecandy_msgs::LEDArrayConstPtr& msg);

  void diagnosticsCallback(diagnostic_updater::DiagnosticStatusWrapper& diagnostic_status);

  ros::Timer diagnostics_timer_;
  void diagnosticsTimerCallback(const ros::TimerEvent& e);

  ros::Timer connect_timer_;
  void connectTimerCallback(const ros::TimerEvent& e);

  diagnostic_updater::Updater diagnostic_updater_;

  double restart_patience_;
};
}  // namespace fadecandy_driver