MockDriver.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 <ros/ros.h>
#include <string>
#include <vector>
#include <boost/shared_ptr.hpp>
#include <cav_msgs/DriverStatus.h>
 
#include "rosbag_mock_drivers/ROSComms.h"
#include "rosbag_mock_drivers/MockDriverNode.h"
#include "rosbag_mock_drivers/comm_types.h"
#include "rosbag_mock_drivers/DriverType.h"
 
namespace mock_drivers
{
class MockDriver
{
protected:
  // Helper typedefs for child classes
  template <class T>
  using ConstPtr = boost::shared_ptr<const T>;
 
  template <class T>
  using ConstPtrRef = const ConstPtr<T>&;
 
  template <class T>
  using ROSCommsPtr = boost::shared_ptr<ROSComms<T>>;
 
  template <class T>
  using ConstPtrRefROSComms = ROSComms<ConstPtrRef<T>>;
 
  template <class T>
  using ConstPtrRefROSCommsPtr = ROSCommsPtr<ConstPtrRef<T>>;
 
  // Member variables
  MockDriverNode mock_driver_node_;  // Node to use as pub/sub interface
 
  // Prefix which child classes can apply to their topics to identify bag subscriptions. This is meant to be used when
  // we are subscribing using the addPassthrough functions
  const std::string bag_prefix_ = "/bag/hardware_interface/";
 
  const std::string driver_discovery_topic_ = "driver_discovery";
 
  ROSCommsPtr<cav_msgs::DriverStatus> driver_discovery_pub_ptr_ =
      boost::make_shared<ROSComms<cav_msgs::DriverStatus>>(CommTypes::pub, false, 10, driver_discovery_topic_);
 
  ros::Time last_discovery_pub_ = ros::Time(0);
 
  virtual bool onSpin();
 
  virtual int onRun() = 0;
 
  void driverDiscovery();
 
  MockDriverNode getMockDriverNode() const;
 
  template <typename T>
  void addPassthroughPub(const std::string& sub_topic, const std::string& pub_topic, bool latch, size_t queue_size);
 
  template <typename T>
  void addPassthroughPubNoHeader(const std::string& sub_topic, const std::string& pub_topic, bool latch,
                                 size_t queue_size);
 
public:
  virtual ~MockDriver() = 0;
 
  int run();
 
  virtual std::vector<DriverType> getDriverTypes() = 0;
 
  virtual uint8_t getDriverStatus() = 0;
 
  virtual unsigned int getRate() = 0;
 
  bool spinCallback();
};
 
}  // namespace mock_drivers
 
#include "impl/MockDriver.tpp" // Include for templated function implementations