cmd_vel_subscribers.hpp

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

#ifndef YUJIN_OCS_CMD_VEL_SUBSCRIBERS_HPP_
#define YUJIN_OCS_CMD_VEL_SUBSCRIBERS_HPP_

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

#include <ros/ros.h>
#include <geometry_msgs/Twist.h>

#include <yaml-cpp/yaml.h>

#ifdef HAVE_NEW_YAMLCPP
// The >> operator disappeared in yaml-cpp 0.5, so this function is
// added to provide support for code written under the yaml-cpp 0.3 API.
template<typename T>
void operator >> (const YAML::Node& node, T& i)
{
  i = node.as<T>();
}
#endif


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

namespace yocs_cmd_vel_mux {


/*****************************************************************************
** CmdVelSubscribers
*****************************************************************************/

class CmdVelSubscribers
{
public:

  class CmdVelSubs
  {
  public:
    unsigned int           idx;          
    std::string            name;         
    std::string            topic;        
    ros::Subscriber        subs;         
    ros::Timer             timer;        
    double                 timeout;      
    unsigned int           priority;     
    std::string            short_desc;   
    bool                   active;       
    CmdVelSubs(unsigned int idx) : idx(idx), active(false) { };
    ~CmdVelSubs() { }

    void operator << (const YAML::Node& node);
  };

  CmdVelSubscribers() { }
  ~CmdVelSubscribers() { }

  std::vector<std::shared_ptr<CmdVelSubs>>::size_type size() { return list.size(); };
  std::shared_ptr<CmdVelSubs>& operator [] (unsigned int idx) { return list[idx]; };

  void configure(const YAML::Node& node);

  unsigned int allowed;

private:
  std::vector<std::shared_ptr<CmdVelSubs>> list;
};

} // namespace yocs_cmd_vel_mux


#endif /* CMD_VEL_SUBSCRIBERS_HPP_ */