MockControllerDriver.h

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/*
 * Copyright (C) 2020-2021 LEIDOS.
 *
 * Licensed under the Apache License, Version 2.0 (the "License"); you may not
 * use this file except in compliance with the License. You may obtain a copy of
 * the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations under
 * the License.
 */
 
#pragma once
 
#include "rosbag_mock_drivers/MockDriver.h"
#include <autoware_msgs/VehicleCmd.h>
#include <cav_msgs/RobotEnabled.h>
#include <cav_srvs/SetEnableRobotic.h>
 
namespace mock_drivers
{
class MockControllerDriver : public MockDriver
{
private:
  boost::shared_ptr<ROSComms<cav_msgs::RobotEnabled>> robot_status_ptr_;
  ConstPtrRefROSCommsPtr<autoware_msgs::VehicleCmd> vehicle_cmd_ptr_;
  boost::shared_ptr<ROSComms<cav_srvs::SetEnableRobotic::Request&, cav_srvs::SetEnableRobotic::Response&>>
      enable_robotic_ptr_;
 
  // Pub
  const std::string robot_status_topic_ = "controller/robot_status";
 
  // Sub
  const std::string vehicle_cmd_topic_ = "vehicle_cmd";
  const std::string enable_robotic_srv_ = "controller/enable_robotic";
 
  // Robot Status flags
  bool robot_active_ = false;
  bool robot_enabled_ = false;
 
protected:
  int onRun() override;
 
public:
 
  void vehicleCmdCallback(const autoware_msgs::VehicleCmd::ConstPtr& msg);
 
  bool enableRoboticSrv(const cav_srvs::SetEnableRobotic::Request& req, cav_srvs::SetEnableRobotic::Response& res);
 
  // Overrides
  MockControllerDriver(bool dummy = false);
  ~MockControllerDriver() {};
  bool onSpin() override;
  std::vector<DriverType> getDriverTypes() override;
  uint8_t getDriverStatus() override;
  unsigned int getRate() override;
};
 
}  // namespace mock_drivers