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/*
* rt_usb_9axisimu_driver_component.hpp
*
* License: BSD-3-Clause
*
* Copyright (c) 2015-2020 RT Corporation <support@rt-net.jp>
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. 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.
* 3. Neither the name of RT Corporation 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 RT_USB_9AXISIMU_DRIVER__RT_USB_9AXISIMU_DRIVER_COMPONENT_HPP_
#define RT_USB_9AXISIMU_DRIVER__RT_USB_9AXISIMU_DRIVER_COMPONENT_HPP_
#include <memory>
#include <string>
#include <vector>
#include "rt_usb_9axisimu_driver/visibility_control.h"
#include "rt_usb_9axisimu_driver/rt_usb_9axisimu_driver.hpp"
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
#include "rclcpp_lifecycle/lifecycle_publisher.hpp"
#include "sensor_msgs/msg/imu.hpp"
#include "sensor_msgs/msg/magnetic_field.hpp"
#include "std_msgs/msg/float64.hpp"
namespace rt_usb_9axisimu_driver
{
class Driver : public rclcpp_lifecycle::LifecycleNode
{
public:
RT_USB_9AXISIMU_DRIVER_PUBLIC
explicit Driver(const rclcpp::NodeOptions & options);
protected:
void on_publish_timer();
private:
std::unique_ptr<RtUsb9axisimuRosDriver> driver_;
std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<sensor_msgs::msg::Imu>> imu_data_raw_pub_;
std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<sensor_msgs::msg::MagneticField>>
imu_mag_pub_;
std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<std_msgs::msg::Float64>>
imu_temperature_pub_;
rclcpp::TimerBase::SharedPtr publish_timer_;
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
on_configure(const rclcpp_lifecycle::State &);
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
on_activate(const rclcpp_lifecycle::State &);
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
on_deactivate(const rclcpp_lifecycle::State &);
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
on_cleanup(const rclcpp_lifecycle::State &);
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
on_shutdown(const rclcpp_lifecycle::State &);
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
on_error(const rclcpp_lifecycle::State &);
};
} // namespace rt_usb_9axisimu_driver
#endif // RT_USB_9AXISIMU_DRIVER__RT_USB_9AXISIMU_DRIVER_COMPONENT_HPP_