MockLightBarDriver.hpp

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/*
 * Copyright (C) 2019-2021 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.
 */
 
 
 
#include <ros/ros.h>
#include <ros/node_handle.h>
#include <iostream>
#include <ros/service_client.h>
#include <ros/service_server.h>
#include <cav_srvs/GetDriverApi.h>
#include <cav_srvs/GetDriverApiRequest.h>
#include <cav_srvs/GetDriverApiResponse.h>
#include <cav_srvs/Bind.h>
#include <cav_srvs/BindRequest.h>
#include <cav_srvs/BindResponse.h>
#include <cav_msgs/DriverStatus.h>
#include <cav_srvs/GetDriverStatus.h>
#include <cav_srvs/GetDriverStatusRequest.h>
#include <cav_srvs/GetDriverStatusResponse.h>
#include <cav_srvs/GetLights.h>
#include <cav_srvs/GetLightsRequest.h>
#include <cav_srvs/GetLightsResponse.h>
#include <cav_srvs/SetLights.h>
#include <cav_srvs/SetLightsRequest.h>
#include <cav_srvs/SetLightsResponse.h>
#include <cav_msgs/LightBarStatus.h>
#include "carma_utils/CARMANodeHandle.h"
using namespace std;
 
namespace mock_drivers{
    class MockLightBarDriver  {
        
 
 
          private:
 
              cav_msgs::DriverStatus driverStatus;
               //topics published
              ros::Publisher lbPub;
              string lbStatusTopic;
              ros::Publisher discoveryPub;
 
             //service server
             ros::ServiceServer getLightsService;
            ros::ServiceServer setLightsService;
            ros::ServiceServer getApiService;
            ros::ServiceServer bindService;
            ros::ServiceServer getDriverStatusService;
            string lbGetLightService;
            string lbSetLightService;
            short EXPECTED_DATA_COL_COUNT;
            short SAMPLE_ID_IDX ;
 
            //lightbar states
              bool greenFlash;
              bool yellowFlash;
              bool leftArrow;
              bool rightArrow;
              bool sidesSolid;
             bool greenSolid;
              bool yellowDim;
              bool takedown;
 
 
            //get driver status call back
            bool getDriverStatus_cb(cav_srvs::GetDriverStatusRequest& req, cav_srvs::GetDriverStatusResponse& resp);
 
            //bind call back
            bool bind_cb(cav_srvs::BindRequest& req, cav_srvs::BindResponse& resp);
 
 
            //get api service call back
            bool getApiService_cb(cav_srvs::GetDriverApiRequest& req, cav_srvs::GetDriverApiResponse& resp);
 
            //set light service call back
            bool setLightService_cb(cav_srvs::SetLightsRequest& req, cav_srvs::SetLightsResponse& resp);
 
            //get light service call back
            bool getLightService_cb(cav_srvs::GetLightsRequest& req, cav_srvs::GetLightsResponse& resp);
 
            cav_msgs::LightBarStatus getLightBarStatus();
 
            cav_msgs::DriverStatus getDriverStatus();
 
            vector<string> getDriverApi();
 
          public:
             MockLightBarDriver(ros::CARMANodeHandle node);
 
            //publishes lightbar status
            void publishData();
            
            //publishes driver status
            void publishDriverStatus();
            
            //name of node
            string getNodeName();
 
            vector<string> getDriverTypesList();
    };
 
}