Program Listing for File digital_outputs_ros_i.hpp
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/*
* Copyright (c) 2019, Open Source Robotics Foundation
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * 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.
* * 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 OWNER 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; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef PHIDGETS_DIGITAL_OUTPUTS_DIGITAL_OUTPUTS_ROS_I_HPP
#define PHIDGETS_DIGITAL_OUTPUTS_DIGITAL_OUTPUTS_ROS_I_HPP
#include <memory>
#include <string>
#include <vector>
#include <rclcpp/rclcpp.hpp>
#include <std_msgs/msg/bool.hpp>
#include "phidgets_api/digital_outputs.hpp"
#include "phidgets_msgs/srv/set_digital_output.hpp"
namespace phidgets {
class DigitalOutputsRosI;
class DigitalOutputSetter final
{
public:
explicit DigitalOutputSetter(DigitalOutputs* dos, int index,
DigitalOutputsRosI* node,
const std::string& topicname);
private:
void setMsgCallback(const std_msgs::msg::Bool::SharedPtr msg);
rclcpp::Subscription<std_msgs::msg::Bool>::SharedPtr subscription_;
DigitalOutputs* dos_;
int index_;
};
class DigitalOutputsRosI final : public rclcpp::Node
{
public:
explicit DigitalOutputsRosI(const rclcpp::NodeOptions& options);
private:
std::unique_ptr<DigitalOutputs> dos_;
std::vector<std::unique_ptr<DigitalOutputSetter>> out_subs_;
rclcpp::Service<phidgets_msgs::srv::SetDigitalOutput>::SharedPtr out_srv_;
void setSrvCallback(
const std::shared_ptr<phidgets_msgs::srv::SetDigitalOutput::Request>
req,
std::shared_ptr<phidgets_msgs::srv::SetDigitalOutput::Response> res);
};
} // namespace phidgets
#endif // PHIDGETS_DIGITAL_OUTPUTS_DIGITAL_OUTPUTS_ROS_I_HPP