Rangefinder2D_controlBoard_nws_ros2.h

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/*
 * SPDX-FileCopyrightText: 2023 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_ROS2_RANGEFINDER2D_CONTROLBOARD_NWS_ROS2_H
#define YARP_ROS2_RANGEFINDER2D_CONTROLBOARD_NWS_ROS2_H
 
#include <yarp/dev/WrapperSingle.h>
#include <yarp/dev/IRangefinder2D.h>
#include <yarp/dev/DeviceDriver.h>
#include <yarp/os/PeriodicThread.h>
 
#include <yarp/dev/IPositionControl.h>
#include <yarp/dev/IEncodersTimed.h>
#include <yarp/dev/ITorqueControl.h>
#include <yarp/dev/IAxisInfo.h>
 
#include <rclcpp/rclcpp.hpp>
#include <std_msgs/msg/string.hpp>
 
#include <sensor_msgs/msg/laser_scan.hpp>
#include <sensor_msgs/msg/joint_state.hpp>
 
#include "Rangefinder2D_controlBoard_nws_ros2_ParamsParser.h"
 
#include <mutex>
 
class Rangefinder2D_controlBoard_nws_ros2 :
        public yarp::dev::DeviceDriver,
        public yarp::os::PeriodicThread,
        public yarp::dev::WrapperSingle,
        Rangefinder2D_controlBoard_nws_ros2_ParamsParser
{
public:
    Rangefinder2D_controlBoard_nws_ros2();
    Rangefinder2D_controlBoard_nws_ros2(const Rangefinder2D_controlBoard_nws_ros2&) = delete;
    Rangefinder2D_controlBoard_nws_ros2(Rangefinder2D_controlBoard_nws_ros2&&) noexcept = delete;
    Rangefinder2D_controlBoard_nws_ros2& operator=(const Rangefinder2D_controlBoard_nws_ros2&) = delete;
    Rangefinder2D_controlBoard_nws_ros2& operator=(Rangefinder2D_controlBoard_nws_ros2&&) noexcept = delete;
    ~Rangefinder2D_controlBoard_nws_ros2() override = default;
 
    //WrapperSingle
    bool attach(yarp::dev::PolyDriver* driver) override;
    bool detach() override;
 
    // DeviceDriver
    bool open(yarp::os::Searchable& config) override;
    bool close() override;
 
    bool setDevice(yarp::dev::DeviceDriver* device);
    bool updateAxisName();
 
    // PeriodicThread
    void run() override;
 
private:
    yarp::dev::PolyDriver m_driver;
    yarp::dev::DeviceDriver* m_driver_cb =nullptr;
    yarp::dev::IRangefinder2D *m_iLidar =nullptr;
    yarp::dev::IPositionControl* iPositionControl{nullptr};
    yarp::dev::IEncodersTimed* iEncodersTimed{nullptr};
    yarp::dev::ITorqueControl* iTorqueControl{nullptr};
    yarp::dev::IAxisInfo* iAxisInfo{nullptr};
    std::vector<std::string> jointNames;
    size_t subdevice_joints {0};
 
 
    rclcpp::Node::SharedPtr m_node;
    rclcpp::Publisher<sensor_msgs::msg::LaserScan>::SharedPtr m_publisher_laser;
    rclcpp::Publisher<sensor_msgs::msg::JointState>::SharedPtr m_publisher_joint;
    bool m_isDeviceReady = false;
    yarp::sig::Vector m_times;
 
    double m_minAngle, m_maxAngle;
    double m_minDistance, m_maxDistance;
    double m_resolution;
    sensor_msgs::msg::JointState m_ros_struct;
};
 
#endif // YARP_ROS2_RANGEFINDER2D_CONTROLBOARD_NWS_ROS2_H