dvl_setting.hpp

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#ifndef DVL_SETTING_HPP_
#define DVL_SETTING_HPP_
 
#include <driver_msgs/srv/command.hpp>
#include <fstream>
#include <rclcpp/rclcpp.hpp>
#include <string>
#include <vector>
 
namespace driver::dvl_driver
{
 
class DVLSetting : public rclcpp::Node
{
public:
  DVLSetting();
  ~DVLSetting();
 
  bool configure();
 
private:
  // ROS Service Client
  rclcpp::Client<driver_msgs::srv::Command>::SharedPtr client_;
 
  // Parameters
  std::string config_file_path_;
 
  // Helpers
  std::vector<std::string> load_config_file(const std::string & path);
 
  // Service wrapper (Synchronous-like)
  std::string call_service(const std::string & command);
 
  // Command logic
  bool execute_command(const std::string & cmd);
  std::string get_query_command(const std::string & cmd);
  std::string trim(const std::string & str);
};
 
}  // namespace driver::dvl_driver
 
#endif  // DVL_SETTING_HPP_