yasmin_viewer_pub.hpp

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// Copyright (C) 2023 Miguel Ángel González Santamarta
//
// This program is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program.  If not, see <https://www.gnu.org/licenses/>.
 
#ifndef YASMIN_VIEWER__YASMIN_VIEWER_PUB_HPP
#define YASMIN_VIEWER__YASMIN_VIEWER_PUB_HPP
 
#include <map>
#include <memory>
#include <string>
#include <vector>
 
#include "rclcpp/rclcpp.hpp"
 
#include "yasmin/concurrence.hpp"
#include "yasmin/state.hpp"
#include "yasmin/state_machine.hpp"
#include "yasmin_msgs/msg/state.hpp"
#include "yasmin_msgs/msg/state_machine.hpp"
#include "yasmin_msgs/msg/transition.hpp"
 
namespace yasmin_viewer {

class YasminViewerPub {
 
public:
  YasminViewerPub(const rclcpp::Node::SharedPtr &node,
                  std::shared_ptr<yasmin::StateMachine> fsm,
                  const std::string &fsm_name);

  YasminViewerPub(std::shared_ptr<yasmin::StateMachine> fsm,
                  const std::string &fsm_name);

  YasminViewerPub(const rclcpp::Node::SharedPtr &node,
                  std::shared_ptr<yasmin::StateMachine> fsm);

  YasminViewerPub(std::shared_ptr<yasmin::StateMachine> fsm);

  std::vector<yasmin_msgs::msg::Transition>
  parse_transitions(const std::map<std::string, std::string> &transitions);

  std::map<std::string, std::vector<yasmin_msgs::msg::Transition>>
  parse_concurrence_transitions(
      std::shared_ptr<yasmin::Concurrence> concurrence);

  void parse_state(const std::string &name,
                   std::shared_ptr<yasmin::State> state,
                   const std::map<std::string, std::string> &transitions,
                   std::vector<yasmin_msgs::msg::State> &states_list,
                   int parent);

  void publish_data();
 
private:
  rclcpp::Node::SharedPtr node_;
  rclcpp::Publisher<yasmin_msgs::msg::StateMachine>::SharedPtr publisher;
  rclcpp::TimerBase::SharedPtr timer;

  std::shared_ptr<yasmin::StateMachine> fsm;
  std::string fsm_name;
};
 
} // namespace yasmin_viewer
 
#endif // YASMIN_VIEWER__YASMIN_VIEWER_PUB_HPP