MobileBaseVelocityControl_nwc_yarp.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: LGPL-2.1-or-later
 */
 
#ifndef YARP_DEV_MOBILEBASEVELOCITYCONTROL_NWC_YARP
#define YARP_DEV_MOBILEBASEVELOCITYCONTROL_NWC_YARP
 
#include <yarp/os/Network.h>
#include <yarp/dev/ControlBoardInterfaces.h>
#include <yarp/dev/ControlBoardHelpers.h>
#include <yarp/sig/Vector.h>
#include <yarp/os/Time.h>
#include <yarp/dev/PolyDriver.h>
#include <yarp/dev/INavigation2D.h>
#include "MobileBaseVelocityControlRPC.h"
 
#include <mutex>
#include <string>
#include "MobileBaseVelocityControl_nwc_yarp_ParamsParser.h"
 
class MobileBaseVelocityControl_nwc_yarp:
        public yarp::dev::DeviceDriver,
        public yarp::dev::Nav2D::INavigation2DVelocityActions,
        public MobileBaseVelocityControl_nwc_yarp_ParamsParser
{
protected:
    std::mutex                    m_mutex;
    yarp::os::Port                m_rpc_port;
    MobileBaseVelocityControlRPC  m_RPC;
 
public:
 
    /* DeviceDriver methods */
    bool open(yarp::os::Searchable& config) override;
    bool close() override;
 
    /* The following methods belong to INavigation2D interface */
    yarp::dev::ReturnValue   applyVelocityCommand(double x_vel, double y_vel, double theta_vel, double timeout = 0.1) override;
    yarp::dev::ReturnValue   getLastVelocityCommand(double& x_vel, double& y_vel, double& theta_vel) override;
};
 
#endif // YARP_DEV_MOBILEBASEVELOCITYCONTROL_NWC_YARP