GalaxisNode.hpp

Go to the documentation of this file.

#ifndef GALAXIS_NODE_HPP_
#define GALAXIS_NODE_HPP_
 
#include <galaxis/ServiceState.hpp>
#include "galaxis/ros_heartbeat.hpp"
#include "galaxis/messages.hpp"
#include "galaxis/Errors.hpp"
#include "rclcpp/rclcpp.hpp"
#include <chrono>
#include <map>
#include <memory>
#include <functional>
 
#include "rcl_interfaces/msg/set_parameters_result.hpp"
#include "rcl_interfaces/msg/floating_point_range.hpp"
#include "rcl_interfaces/msg/parameter_descriptor.hpp"
 
#include <nlohmann/json.hpp>
using nlohmann::json;
 
class GalaxisNode : public rclcpp::Node {
private:
  std::string m_nodeName = "nodename_not_set";
 
  galaxis::serviceStates::State m_serviceState = galaxis::serviceStates::State::BOOTSTRAP;
 
  galaxis::ROSHeartbeat m_heartbeatHandler;
 
  rclcpp::Subscription<ServiceStateType>::SharedPtr m_serviceSubscription;
  rclcpp::Subscription<SystemSettingsType>::SharedPtr m_systemSettingsSubSPtr;
 
  std::function<void(galaxis::serviceStates::State)> m_callback_service_state;
  
  // parameters
  OnSetParametersCallbackHandle::SharedPtr m_parameterCallbackHandle;
  std::vector<std::string> m_rosParameterNamesVec;
 
  json m_globalSettings;
 
protected:
  GalaxisNode() = delete;
  GalaxisNode(std::string p_name, unsigned int p_heartbeatTimePeriod);
  GalaxisNode(std::string p_name);
 
  template <typename MsgSPtr>
  void tickSub(std::map<galaxis::serviceStates::State, std::function<void(const MsgSPtr)>> const* p_functionMapPtr, MsgSPtr const p_message) {
    if(p_functionMapPtr->find(m_serviceState) != p_functionMapPtr->end()) {
      p_functionMapPtr->at(m_serviceState)(p_message);
    } else {
      RCLCPP_INFO(this->get_logger(), "No Pub/Sub implemented for %i", m_serviceState);
    }
  }
 
  template <typename... Args>
  void tickPub(std::map<galaxis::serviceStates::State, std::function<void(Args...)>> const* p_functionMapPtr, Args... p_args) {
    if(p_functionMapPtr->find(m_serviceState) != p_functionMapPtr->end()) {
      p_functionMapPtr->at(m_serviceState)(p_args...);
    } else {
      RCLCPP_INFO(this->get_logger(), "No Pub/Sub implemented for %i", m_serviceState);
    }
  }
 
  void register_callback(std::function<void(galaxis::serviceStates::State)> p_function);
  void service_state_callback(ServiceStateType::SharedPtr const p_msgSPtr);
  galaxis::serviceStates::State get_current_service_state() const;
 
  // system/node settings
  void enable_parameters(std::function<rcl_interfaces::msg::SetParametersResult(const std::vector<rclcpp::Parameter>&)> callbackFunc);
  void create_parameters(std::shared_ptr<json> configJsonSPtr);
  // virtual rcl_interfaces::msg::SetParametersResult new_parameters_callback(const std::vector<rclcpp::Parameter>& parameters);
 
  
  json const& get_global_settings();
};
 
#endif // !GALAXIS_NODE_HPP_