cmd_vel_mux_nodelet.hpp

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/*****************************************************************************
 ** Ifdefs
 *****************************************************************************/

#ifndef YUJIN_OCS_CMD_VEL_MUX_HPP_
#define YUJIN_OCS_CMD_VEL_MUX_HPP_

/*****************************************************************************
 ** Includes
 *****************************************************************************/

#include <ros/ros.h>
#include <nodelet/nodelet.h>
#include <dynamic_reconfigure/server.h>

#include "yocs_cmd_vel_mux/reloadConfig.h"
#include "yocs_cmd_vel_mux/cmd_vel_subscribers.hpp"

/*****************************************************************************
** Namespaces
*****************************************************************************/

namespace yocs_cmd_vel_mux {

/*****************************************************************************
 ** CmdVelMux
 *****************************************************************************/

class CmdVelMuxNodelet : public nodelet::Nodelet
{
public:
  virtual void onInit();

  CmdVelMuxNodelet()
  {
    cmd_vel_subs.allowed = VACANT;
    dynamic_reconfigure_server = NULL;
  }

  ~CmdVelMuxNodelet()
  {
    if (dynamic_reconfigure_server != NULL)
      delete dynamic_reconfigure_server;
  }

private:
  static const unsigned int VACANT       = 666666;  
  static const unsigned int GLOBAL_TIMER = 888888;  
  CmdVelSubscribers cmd_vel_subs;    
  ros::Publisher output_topic_pub;   
  std::string    output_topic_name;  
  ros::Publisher active_subscriber;  
  ros::Timer common_timer;           
  double common_timer_period;        
  void timerCallback(const ros::TimerEvent& event, unsigned int idx);
  void cmdVelCallback(const geometry_msgs::Twist::ConstPtr& msg, unsigned int idx);

  /*********************
  ** Dynamic Reconfigure
  **********************/
  dynamic_reconfigure::Server<yocs_cmd_vel_mux::reloadConfig> * dynamic_reconfigure_server;
  dynamic_reconfigure::Server<yocs_cmd_vel_mux::reloadConfig>::CallbackType dynamic_reconfigure_cb;
  void reloadConfiguration(yocs_cmd_vel_mux::reloadConfig &config, uint32_t unused_level);

  /*********************
   ** Private Classes
   **********************/
  // Functor assigned to each incoming velocity topic to bind it to cmd_vel callback
  class CmdVelFunctor
  {
  private:
    unsigned int idx;
    CmdVelMuxNodelet* node;

  public:
    CmdVelFunctor(unsigned int idx, CmdVelMuxNodelet* node) :
        idx(idx), node(node)
    {
    }

    void operator()(const geometry_msgs::Twist::ConstPtr& msg)
    {
      node->cmdVelCallback(msg, idx);
    }
  };

  // Functor assigned to each velocity messages source to bind it to timer callback
  class TimerFunctor
  {
  private:
    unsigned int idx;
    CmdVelMuxNodelet* node;

  public:
    TimerFunctor(unsigned int idx, CmdVelMuxNodelet* node) :
        idx(idx), node(node)
    {
    }

    void operator()(const ros::TimerEvent& event)
    {
      node->timerCallback(event, idx);
    }
  };
};

} // namespace yocs_cmd_vel_mux

#endif /* YUJIN_OCS_CMD_VEL_MUX_HPP_ */