drivers_controller_config.hpp

Go to the documentation of this file.

#pragma once
 
/*
 * Copyright (C) 2023 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 <iostream>
#include <vector>
 
namespace subsystem_controllers
{
struct DriversControllerConfig
 
{
  std::string ros1_ssc_driver_name_;
  std::vector<std::string> excluded_namespace_nodes_;
  int startup_duration_;
  double driver_timeout_ = 1000;
 
  // Stream operator for this config
  friend std::ostream & operator<<(std::ostream & output, const DriversControllerConfig & c)
  {
    output << "DriversControllerConfig { " << std::endl
           << "ros1_ssc_driver_name: " << c.ros1_ssc_driver_name_ << std::endl
           << "excluded_namespace_nodes: [  " << std::endl;
 
    for (auto node : c.excluded_namespace_nodes_) output << node << " ";
 
    output << "] " << std::endl << "startup_duration: " << c.startup_duration_ << std::endl;
 
    output << "driver_timeout: " << c.driver_timeout_ << std::endl
 
           << "}" << std::endl;
    return output;
  }
};
 
}  // namespace subsystem_controllers