drivers_controller_config.hpp

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#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::vector<std::string> ros1_required_drivers_;
    std::vector<std::string> ros1_camera_drivers_;
    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_required_drivers: [ " << std::endl;
            
      for (auto node : c.ros1_required_drivers_)
        output << node << " ";
 
      output << "] " << std::endl << "ros1_camera_drivers: [ ";
 
      for (auto node : c.ros1_camera_drivers_)
        output << node << " ";
      
      output << "] " << std::endl << "excluded_namespace_nodes: [ ";
 
      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