.. _program_listing_file__tmp_ws_src_ros2_robotiq_gripper_robotiq_controllers_include_robotiq_controllers_robotiq_activation_controller.hpp:

Program Listing for File robotiq_activation_controller.hpp
==========================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_ros2_robotiq_gripper_robotiq_controllers_include_robotiq_controllers_robotiq_activation_controller.hpp>` (``/tmp/ws/src/ros2_robotiq_gripper/robotiq_controllers/include/robotiq_controllers/robotiq_activation_controller.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright (c) 2022 PickNik, Inc.
   //
   // 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 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; 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.
   
   #pragma once
   
   #include "controller_interface/controller_interface.hpp"
   #include "std_srvs/srv/trigger.hpp"
   
   namespace robotiq_controllers
   {
   class RobotiqActivationController : public controller_interface::ControllerInterface
   {
   public:
     controller_interface::InterfaceConfiguration command_interface_configuration() const override;
   
     controller_interface::InterfaceConfiguration state_interface_configuration() const override;
   
     controller_interface::return_type update(const rclcpp::Time& time, const rclcpp::Duration& period) override;
   
     CallbackReturn on_activate(const rclcpp_lifecycle::State& previous_state) override;
   
     CallbackReturn on_deactivate(const rclcpp_lifecycle::State& previous_state) override;
   
     CallbackReturn on_init() override;
   
   private:
     bool reactivateGripper(std_srvs::srv::Trigger::Request::SharedPtr req,
                            std_srvs::srv::Trigger::Response::SharedPtr resp);
   
     static constexpr double ASYNC_WAITING = 2.0;
     enum CommandInterfaces
     {
       REACTIVATE_GRIPPER_CMD,
       REACTIVATE_GRIPPER_RESPONSE
     };
   
     rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr reactivate_gripper_srv_;
   };
   }  // namespace robotiq_controllers