ros_disk_state.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_DISK_STATE_H_
#define DDS_ROS_BRIDGE_ROS_DISK_STATE_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/DiskState.h"
#include "ff_msgs/DiskStateStamped.h"
 
#include "knDds/DdsTypedSupplier.h"
 
#include "rapidUtil/RapidHelper.h"
 
#include "dds_msgs/AstrobeeConstants.h"
#include "dds_msgs/DiskStateSupport.h"
#include "dds_msgs/DiskConfigSupport.h"
 
namespace ff {
 
class RosDiskStateToRapid : public RosSubRapidPub {
 public:
  RosDiskStateToRapid(const std::string& subscribe_topic,
                      const std::string& pub_topic,
                      const ros::NodeHandle &nh,
                      const unsigned int queue_size = 10);
 
  void Callback(ff_msgs::DiskStateStampedConstPtr const& state);
  void FillConfigAndState(ff_msgs::DiskStateStampedConstPtr state,
                          unsigned int index,
                          unsigned int size);
  void CheckAndPublish(ros::TimerEvent const& event);
  void SetPublishRate(float rate);
 
 private:
  using StateSupplier =
    kn::DdsTypedSupplier<rapid::ext::astrobee::DiskState>;
  using StateSupplierPtr = std::unique_ptr<StateSupplier>;
 
  StateSupplierPtr state_supplier_;
 
  using ConfigSupplier =
    kn::DdsTypedSupplier<rapid::ext::astrobee::DiskConfig>;
  using ConfigSupplierPtr = std::unique_ptr<ConfigSupplier>;
 
  ConfigSupplierPtr config_supplier_;
 
  bool updated_;
 
  unsigned int llp_disk_size_, mlp_disk_size_, hlp_disk_size_;
 
  ff_msgs::DiskStateStampedConstPtr llp_state_, mlp_state_, hlp_state_;
 
  ros::Timer pub_timer_;
};
 
}  // end namespace ff
 
#endif  // DDS_ROS_BRIDGE_ROS_DISK_STATE_H_