Sucan126
f430360516
- Added #include for unitree/idl/ros2/String_.hpp in recharge.hpp to support new functionality related to ROS2 string messages.
46 lines
1.3 KiB
C++
46 lines
1.3 KiB
C++
#pragma once
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#include <unitree/robot/channel/channel_publisher.hpp>
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#include <unitree/robot/channel/channel_subscriber.hpp>
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#include <string>
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#include <vector>
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#include <functional>
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#include <mutex>
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#include <atomic>
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#include <thread>
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#include <condition_variable>
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#include <unitree/idl/ros2/String_.hpp>
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#define RechargeTopic "rt/aruco_cmd"
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#define RechargeStateTopic "rt/aruco_state"
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namespace custom {
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class Recharge {
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public:
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Recharge(double timeout = 60.0);
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bool Init();
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std::string StartRecharge(int repeat = 1, double period_sec = 1.0);
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bool StopRecharge(int repeat = 1, double period_sec = 1.0);
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void RegisterStateCallback(std::function<void(const std::string&)> callback);
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std::string GetLastState() const;
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private:
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void OnStateMessage(const void* message);
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bool Publish(const std::string& data, int repeat = 1, double period_sec = 1.0);
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double timeout_;
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mutable std::mutex state_mutex_;
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std::string last_state_;
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std::vector<std::function<void(const std::string&)>> callbacks_;
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std::condition_variable cv_;
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unitree::robot::ChannelPublisherPtr<std_msgs::msg::dds_::String_> cmd_pub_;
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unitree::robot::ChannelSubscriberPtr<std_msgs::msg::dds_::String_> state_sub_;
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};
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}
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