update_mode.hpp

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#ifndef _UPDATE_MODE_HPP
#define _UPDATE_MODE_HPP
 
#include <behaviortree_cpp/action_node.h>
 
#include <cstdint>
#include <joy_common/joy_common.hpp>
#include <joy_common_msgs/msg/joy.hpp>
#include <rclcpp/rclcpp.hpp>
#include <std_msgs/msg/string.hpp>
#include <timer/timeout.hpp>
 
namespace behavior_tree
{
 
class UpdateMode : public BT::SyncActionNode
{
public:
  UpdateMode(
    const std::string & name, const BT::NodeConfig & config,
    rclcpp::Publisher<std_msgs::msg::String>::SharedPtr logger_pub,
    rclcpp::Node::SharedPtr ros_node, uint64_t timeout_ms);
 
  static BT::PortsList providedPorts();
 
  BT::NodeStatus tick() override;
 
private:
  bool _check_value(std::variant<bool, double> value);
 
  rclcpp::Node::SharedPtr ros_node_;
  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr logger_pub_;
  rclcpp::Subscription<joy_common_msgs::msg::Joy>::SharedPtr joy_sub_;
  joy_common_msgs::msg::Joy::SharedPtr joy_msg_;
  joy_common::ButtonMap button_map_;
 
  joy_common::ButtonMap::iterator manual_it, auto_it;
 
  std::mutex mutex_;
  std::shared_ptr<timer::Timeout> timeout_;
  uint64_t timeout_ms_;
};
 
}  // namespace behavior_tree
 
#endif  // _UPDATE_MODE_HPP