| /******************************************************************************* |
| * Copyright (c) 2016 - 2017 fortiss GmbH |
| * This program and the accompanying materials are made available under the |
| * terms of the Eclipse Public License 2.0 which is available at |
| * http://www.eclipse.org/legal/epl-2.0. |
| * |
| * SPDX-License-Identifier: EPL-2.0 |
| * |
| * Contributors: |
| * Ben Schneider |
| * - initial implementation and documentation |
| *******************************************************************************/ |
| |
| #ifndef CROSLAYER_H_ |
| #define CROSLAYER_H_ |
| |
| #include <ros/ros.h> |
| #include <ros/service_callback_helper.h> |
| #include <topic_tools/shape_shifter.h> |
| |
| #include <comlayer.h> |
| #include <extevhan.h> |
| #include <forte_thread.h> |
| #include <singlet.h> |
| |
| #include <string> |
| |
| class CROSLayer : public forte::com_infra::CComLayer{ |
| |
| public: |
| CROSLayer(forte::com_infra::CComLayer* pa_poUpperLayer, forte::com_infra::CBaseCommFB* pa_poComFB); |
| virtual ~CROSLayer(); |
| |
| virtual void closeConnection(); |
| |
| virtual forte::com_infra::EComResponse sendData(void *pa_pvData, unsigned int pa_unSize); |
| virtual forte::com_infra::EComResponse recvData(const void *pa_pvData, unsigned int pa_unSize); |
| |
| virtual forte::com_infra::EComResponse processInterrupt(); |
| |
| private: |
| virtual forte::com_infra::EComResponse openConnection(char *pa_acLayerParameter); |
| |
| forte::com_infra::EComServiceType m_eCommServiceType; |
| forte::com_infra::EComResponse m_eInterruptResp; |
| |
| ros::NodeHandle m_Nh; |
| ros::Publisher m_Pub; |
| ros::Subscriber m_Sub; |
| std::string m_TopicName; |
| std::string m_TopicType; |
| int m_NumRDs; |
| int m_NumSDs; |
| |
| void handleReceivedValue(const boost::shared_ptr<const topic_tools::ShapeShifter>& pa_message); |
| }; |
| |
| #endif //_CROSLAYER_H_ |