daemon.h

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/*
 * Copyright 2022 Technical University of Munich, Chair of Materials Handling,
 * Material Flow, Logistics – All Rights Reserved
 * 
 * You may use, distribute and modify this code under the terms of the 3-clause
 * BSD license. You should have received a copy of that license with this file.
 * If not, please write to {kontakt.fml@ed.tum.de}.
 */

#ifndef DAEMON_H
#define DAEMON_H
#include <ros/ros.h>
#include <string>
#include "boost/date_time/posix_time/posix_time.hpp"
#include <ros/console.h>
#include "std_msgs/String.h"
#include "vda5050_msgs/Header.h"
#include <sstream>
#include <tf/tf.h>


#define DEFAULT_ERROR_TOPIC "/internal_errors"

class Daemon
{
        private:
        vda5050_msgs::Header messageHeader;
        std::map<std::string,std::string> topicPublisherList;
        std::map<std::string,std::string> topicSubscriberList;
        std::string mqttTopicStructurePrefix;
        bool testMode;
        protected:
        std::map<std::string,ros::Publisher> messagePublisher;
        std::map<std::string,ros::Subscriber> subscribers;
        ros::Publisher errorPublisher;
        ros::NodeHandle nh;
        public:
        
        Daemon();

        Daemon(ros::NodeHandle *nh, std::string daemonName);

        void PublishState();

        void UpdateState();

        bool CheckPassedTime();
        
        std::map<std::string,std::string> GetTopicPublisherList();
        
        std::map<std::string,std::string> GetTopicSubscriberList();
        
        std::vector<std::string> GetMsgList(
                std::map<std::string,std::string> topicList);
        
        std::string GetParameter(std::string param);
        
        std::string CreateTimestamp();
        
        void createTopicStructurePrefix();
        
        std::string getTopicStructurePrefix();

        bool CheckTopic(std::string str1,std::string str2);

        std::string GetTopic(std::string hierarchical_topic);

        bool CompareStrings(std::string str1, std::string str2);

        void InitHeaderInfo();
        
        void LinkErrorTopics(ros::NodeHandle *nh);

        void UpdateHeader();

        std::map<std::string,std::string> ReadTopicParams(ros::NodeHandle *nh,
                std::string paramTopicName);

        vda5050_msgs::Header GetHeader();

        bool CheckRange(double lowerRange, double upperRange, double value,
                std::string msg_name);
};

#endif