battery_check.hpp

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#ifndef _BATTERY_CHECK_HPP
#define _BATTERY_CHECK_HPP
 
#include <behaviortree_cpp/action_node.h>
 
#include <atomic>
#include <driver_msgs/msg/power_state.hpp>
#include <rclcpp/rclcpp.hpp>
#include <std_msgs/msg/string.hpp>
 
class BatteryCheck : public BT::StatefulActionNode
{
public:
  BatteryCheck(
    const std::string & name, const BT::NodeConfig & config,
    rclcpp::Publisher<std_msgs::msg::String>::SharedPtr logger_pub,
    rclcpp::Node::SharedPtr ros_node);
 
  static BT::PortsList providedPorts();
 
  BT::NodeStatus onStart() override;
 
  BT::NodeStatus onRunning() override;
 
  void onHalted() override;
 
private:
  rclcpp::Node::SharedPtr ros_node_;
  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr logger_pub_;
  rclcpp::Subscription<driver_msgs::msg::PowerState>::SharedPtr power_sub_;
 
  std::atomic<float> logic_voltage_, act_voltage_;
  std::atomic<bool> topic_received_;
 
  bool is_battery_good(float voltage);
  void logger(bool logic_check, bool act_check);
};
#endif  // _CHECK_BATTERY_STATE_HPP