Ros2Test.h

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/*
 * SPDX-FileCopyrightText: 2023 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_ROS2_ROS2TEST_H
#define YARP_ROS2_ROS2TEST_H
 
#include <yarp/dev/DeviceDriver.h>
#include <yarp/os/PeriodicThread.h>
 
#include <rclcpp/rclcpp.hpp>
#include <std_msgs/msg/string.hpp>
 
#include <mutex>
 
class Ros2Init
{
public:
    Ros2Init();
 
    std::shared_ptr<rclcpp::Node> node;
 
    static Ros2Init& get();
};
 
 
class MinimalPublisher
{
public:
    MinimalPublisher(const std::string& topicname);
};
 
 
class Ros2Test :
        public yarp::dev::DeviceDriver,
        public yarp::os::PeriodicThread
{
public:
    Ros2Test();
    Ros2Test(const Ros2Test&) = delete;
    Ros2Test(Ros2Test&&) noexcept = delete;
    Ros2Test& operator=(const Ros2Test&) = delete;
    Ros2Test& operator=(Ros2Test&&) noexcept = delete;
    ~Ros2Test() override = default;
 
    // DeviceDriver
    bool open(yarp::os::Searchable& config) override;
    bool close() override;
 
    // PeriodicThread
    void run() override;
 
private:
    rclcpp::Publisher<std_msgs::msg::String>::SharedPtr m_publisher;
    std::string m_topic;
    size_t m_count {0};
};
 
#endif // YARP_ROS2_ROS2TEST_H