Battery_nws_ros2.h

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/*
 * SPDX-FileCopyrightText: 2023 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
 
#ifndef YARP_ROS2_BATTERY_NWS_ROS2_H
#define YARP_ROS2_BATTERY_NWS_ROS2_H
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/battery_state.hpp>
 
#include <yarp/dev/IBattery.h>
#include <yarp/os/PeriodicThread.h>
#include <yarp/os/Stamp.h>
#include <yarp/dev/DeviceDriver.h>
#include <yarp/dev/WrapperSingle.h>
#include "Battery_nws_ros2_ParamsParser.h"
 
#define DEFAULT_THREAD_PERIOD 0.02 //s
 
class Battery_nws_ros2 :
        public yarp::os::PeriodicThread,
        public yarp::dev::DeviceDriver,
        public yarp::dev::WrapperSingle,
        Battery_nws_ros2_ParamsParser
{
public:
    Battery_nws_ros2();
    ~Battery_nws_ros2();
 
    // DeviceDriver
    bool open(yarp::os::Searchable &params) override;
    bool close() override;
 
    // WrapperSingle
    bool attach(yarp::dev::PolyDriver* driver) override;
    bool detach() override;
 
    // PeriodicThread
    bool threadInit() override;
    void threadRelease() override;
    void run() override;
 
 
private:
    // stamp count for timestamp
    yarp::os::Stamp m_timeStamp;
 
    //ros2 node
    sensor_msgs::msg::BatteryState  battMsg;
    rclcpp::Node::SharedPtr m_node;
    rclcpp::Publisher<sensor_msgs::msg::BatteryState>::SharedPtr m_ros2Publisher =nullptr;
 
    //interfaces
    yarp::dev::PolyDriver m_driver;
    yarp::dev::IBattery *m_battery_interface{nullptr};
};
 
#endif // YARP_ROS2_BATTERY_NWS_ROS2_H