wak_gc_ros.h

// Walk and kick: Game controller ROS interface
// Author: Philipp Allgeuer <pallgeuer@ais.uni-bonn.de>
 
// Ensure header is only included once
#ifndef WAK_GC_ROS_H
#define WAK_GC_ROS_H

// Includes
#include <walk_and_kick/wak_common.h>
#include <rcup_game_controller/GCData.h>
#include <ros/ros.h>

// Walk and kick namespace
namespace walk_and_kick
{
    class GCRosInterface
    {
    public:
        // Constructor
        GCRosInterface() : m_nh("~"), m_enabled(true) { resetData(); }
        explicit GCRosInterface(ros::NodeHandle& nh) : m_nh(nh), m_enabled(true) { resetData(); }
        virtual ~GCRosInterface() { stopListening(); }

        // Reset function
        void resetData() { m_data = rcup_game_controller::GCData(); }

        // Start/stop listening functions
        void startListening() { stopListening(); m_subscriber = m_nh.subscribe("/game_controller/data", 1, &GCRosInterface::handleGameControllerData, this); }
        void stopListening() { m_subscriber.shutdown(); }

        // Enable/disable game controller data (without unsubscribing to the topic)
        bool getEnabled() const { return m_enabled; }
        void setEnabled(bool enabled) { m_enabled = enabled; }

        // Get functions
        const rcup_game_controller::GCData& data() const { return m_data; }

    private:
        // ROS node handle
        ros::NodeHandle m_nh;

        // Enabled state of class
        bool m_enabled;

        // Last received game controller data
        rcup_game_controller::GCData m_data;

        // ROS subscriber
        ros::Subscriber m_subscriber;
        void handleGameControllerData(const rcup_game_controller::GCDataConstPtr& msg) { if(m_enabled) m_data = *msg; } // Note: Any game controller packet that is received here definitely concerns us as it has already been preprocessed into 'ownTeam' and 'oppTeam' by the rcup_game_controller node
    };
}

#endif
// EOF