drive_parameters_source.h

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#pragma once

#include "drive_mode.h"
#include <ros/ros.h>

#include <drive_msgs/drive_param.h>
#include <functional>
#include <std_msgs/Float64.h>

class DriveParametersSource;
using DriveParameterCallbackFunction =
    std::function<void(DriveParametersSource*, const drive_msgs::drive_param::ConstPtr&)>;

constexpr float IDLE_RANGE = 0.01f;

/*
 *  A class that listens on a topic that publishes drive parameters and stores information about that source
 */
class DriveParametersSource
{
    public:
    DriveParametersSource(ros::NodeHandle* node_handle, const char* topic,
                          DriveParameterCallbackFunction update_callback, DriveMode drive_mode, ros::Duration timeout);

    bool isOutdated();

    bool isIdle();

    DriveMode getDriveMode();

    private:
    ros::Subscriber m_drive_parameters_subscriber;

    DriveMode m_drive_mode;
    bool m_idle;
    ros::Duration m_timeout;
    ros::Time m_last_update;

    DriveParameterCallbackFunction m_updateCallback;

    void driveParametersCallback(const drive_msgs::drive_param::ConstPtr& parameters);
};