/******************************************************************************* | |
* 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 _TRIGGER_SERVICE_SERVER_H_ | |
#define _TRIGGER_SERVICE_SERVER_H_ | |
#include <esfb.h> | |
#include <forte_bool.h> | |
#include <forte_string.h> | |
#include <std_srvs/Trigger.h> | |
#include <string> | |
// cppcheck-suppress noConstructor | |
class FORTE_TRIGGER_SERVICE_SERVER : public CEventSourceFB{ | |
DECLARE_FIRMWARE_FB(FORTE_TRIGGER_SERVICE_SERVER) | |
private: | |
bool m_Initiated; | |
ros::NodeHandle* m_nh; | |
ros::ServiceServer m_triggerServer; | |
std_srvs::Trigger m_srv; | |
std::string m_RosNamespace; | |
std::string m_RosMsgName; | |
bool m_ResponseAvailable; | |
static const CStringDictionary::TStringId scm_anDataInputNames[]; | |
static const CStringDictionary::TStringId scm_anDataInputTypeIds[]; | |
CIEC_BOOL &QI(){ | |
return *static_cast<CIEC_BOOL*>(getDI(0)); | |
} | |
; | |
CIEC_STRING &NAMESPACE(){ | |
return *static_cast<CIEC_STRING*>(getDI(1)); | |
} | |
; | |
CIEC_STRING &SRVNAME(){ | |
return *static_cast<CIEC_STRING*>(getDI(2)); | |
} | |
; | |
CIEC_BOOL &SUCCESS(){ | |
return *static_cast<CIEC_BOOL*>(getDI(3)); | |
} | |
; | |
CIEC_STRING &MESSAGE(){ | |
return *static_cast<CIEC_STRING*>(getDI(4)); | |
} | |
; | |
static const CStringDictionary::TStringId scm_anDataOutputNames[]; | |
static const CStringDictionary::TStringId scm_anDataOutputTypeIds[]; | |
CIEC_BOOL &QO(){ | |
return *static_cast<CIEC_BOOL*>(getDO(0)); | |
} | |
; | |
CIEC_STRING &STATUS(){ | |
return *static_cast<CIEC_STRING*>(getDO(1)); | |
} | |
; | |
static const TEventID scm_nEventINITID = 0; | |
static const TEventID scm_nEventRSPID = 1; | |
static const TForteInt16 scm_anEIWithIndexes[]; | |
static const TDataIOID scm_anEIWith[]; | |
static const CStringDictionary::TStringId scm_anEventInputNames[]; | |
static const TEventID scm_nEventINITOID = 0; | |
static const TEventID scm_nEventINDID = 1; | |
static const TForteInt16 scm_anEOWithIndexes[]; | |
static const TDataIOID scm_anEOWith[]; | |
static const CStringDictionary::TStringId scm_anEventOutputNames[]; | |
static const SFBInterfaceSpec scm_stFBInterfaceSpec; | |
FORTE_FB_DATA_ARRAY(2, 5, 2, 0) | |
; | |
void executeEvent(int pa_nEIID); | |
bool triggerCallback(std_srvs::Trigger::Request &pa_req, std_srvs::Trigger::Response &pa_resp); | |
public: | |
// cppcheck-suppress noConstructor | |
EVENT_SOURCE_FUNCTION_BLOCK_CTOR(FORTE_TRIGGER_SERVICE_SERVER), m_Initiated(false), m_RosNamespace(""), m_RosMsgName(""), m_ResponseAvailable(false){ | |
}; | |
virtual ~FORTE_TRIGGER_SERVICE_SERVER(){}; | |
}; | |
#endif //close the ifdef sequence from the beginning of the file |