ros_command.h

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/* Copyright (c) 2017, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 * 
 * All rights reserved.
 * 
 * The Astrobee platform is licensed under the Apache License, Version 2.0
 * (the "License"); you may not use this file except in compliance with the
 * License. You may obtain a copy of the License at
 * 
 *     http://www.apache.org/licenses/LICENSE-2.0
 * 
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations
 * under the License.
 */
 
#ifndef DDS_ROS_BRIDGE_ROS_COMMAND_H_
#define DDS_ROS_BRIDGE_ROS_COMMAND_H_
 
#include <cstring>
#include <string>
#include <memory>
 
#include "dds_ros_bridge/ros_sub_rapid_pub.h"
#include "dds_ros_bridge/util.h"
 
#include "ff_msgs/CommandArg.h"
#include "ff_msgs/CommandConstants.h"
#include "ff_msgs/CommandStamped.h"
 
#include "knDds/DdsTypedSupplier.h"
 
#include "rapidUtil/RapidHelper.h"
 
#include "CommandSupport.h"
#include "RapidConstants.h"
 
namespace ff {
 
class RosCommandToRapid : public RosSubRapidPub {
 public:
  RosCommandToRapid(const std::string& subscribe_topic,
                    const std::string& ac_cmd_sub_topic,
                    const std::string& fail_cmd_sub_topic,
                    const std::string& pub_topic,
                    const ros::NodeHandle &nh,
                    const std::string& agent_name_,
                    const unsigned int queue_size = 10);
 
  void ACCmdCallback(ff_msgs::CommandStampedConstPtr const& cmd);
  void CmdCallback(ff_msgs::CommandStampedConstPtr const& cmd);
  void EchoCmd(ff_msgs::CommandStampedConstPtr const& cmd);
  void FailedCmdCallback(ff_msgs::CommandStampedConstPtr const& cmd);
 private:
  using CommandSupplier = kn::DdsTypedSupplier<rapid::Command>;
  using CommandSupplierPtr = std::unique_ptr<CommandSupplier>;
 
  CommandSupplierPtr command_supplier_;
 
  ros::Subscriber ac_cmd_sub_, failed_cmd_sub_;
  std::string ac_subscribe_topic_, failed_cmd_subscribe_topic_;
  std::string agent_name_;
};
 
}  // end namespace ff
 
#endif  // DDS_ROS_BRIDGE_ROS_COMMAND_H_