Program Listing for File controller_stopper.hpp

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// Copyright 2019, FZI Forschungszentrum Informatik, Created on behalf of Universal Robots A/S
//
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//
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//      documentation and/or other materials provided with the distribution.
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//    * Neither the name of the {copyright_holder} nor the names of its
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//----------------------------------------------------------------------
//----------------------------------------------------------------------
#ifndef UR_ROBOT_DRIVER__CONTROLLER_STOPPER_HPP_
#define UR_ROBOT_DRIVER__CONTROLLER_STOPPER_HPP_

#include <memory>
#include <string>
#include <vector>

#include "rclcpp/rclcpp.hpp"
#include "controller_manager_msgs/srv/list_controllers.hpp"
#include "controller_manager_msgs/srv/switch_controller.hpp"
#include "std_msgs/msg/bool.hpp"

class ControllerStopper
{
public:
  ControllerStopper() = delete;
  ControllerStopper(const rclcpp::Node::SharedPtr& node, bool stop_controllers_on_startup);
  virtual ~ControllerStopper() = default;

private:
  void robotRunningCallback(const std_msgs::msg::Bool::ConstSharedPtr msg);

  void findAndStopControllers();

  void startControllers();

  std::shared_ptr<rclcpp::Node> node_;
  rclcpp::Client<controller_manager_msgs::srv::SwitchController>::SharedPtr controller_manager_srv_;
  rclcpp::Client<controller_manager_msgs::srv::ListControllers>::SharedPtr controller_list_srv_;

  rclcpp::Subscription<std_msgs::msg::Bool>::SharedPtr robot_running_sub_;

  std::vector<std::string> consistent_controllers_;
  std::vector<std::string> stopped_controllers_;

  bool stop_controllers_on_startup_;
  bool robot_running_;
};
#endif  // UR_ROBOT_DRIVER__CONTROLLER_STOPPER_HPP_