yasmin_node.hpp

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// Copyright (C) 2024 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_ROS__YASMIN_NODE_HPP
#define YASMIN_ROS__YASMIN_NODE_HPP
 
#include <memory>
#include <string>
#include <thread>
 
#include "rclcpp/rclcpp.hpp"
 
#include "yasmin/blackboard/blackboard.hpp"
#include "yasmin/state.hpp"
#include "yasmin_ros/basic_outcomes.hpp"
 
namespace yasmin_ros {
 
class YasminNode : public rclcpp::Node {
 
public:
  explicit YasminNode();
 
  YasminNode(YasminNode &other) = delete;
 
  void operator=(const YasminNode &) = delete;
 
  ~YasminNode() {}
 
  static std::shared_ptr<YasminNode> get_instance() {
    static std::shared_ptr<YasminNode> instance =
        std::make_shared<YasminNode>();
    return instance;
  }
 
private:
  rclcpp::executors::MultiThreadedExecutor executor;
  std::unique_ptr<std::thread> spin_thread;
};
 
} // namespace yasmin_ros
 
#endif // YASMIN_ROS__YASMIN_NODE_HPP