ObjectMoveHandler.hpp

#ifndef KINEMATICS_OBJECT_MOVE_HANDLER_HPP
#define KINEMATICS_OBJECT_MOVE_HANDLER_HPP

#include <ros/ros.h>
#include "HLR/Error.h"
#include "HLR/ObjectMoveAction.h"
#include "HLR/ObjectMoveStart.h"
#include "HLR/State.h"

#include "RobotController.hpp"

namespace HLR
{
namespace Kinematics
{
class ObjectMoveHandler
{
public:
    ObjectMoveHandler(RobotController& controller);

    virtual ~ObjectMoveHandler() = default;

    ObjectMoveHandler(const ObjectMoveHandler& omh) = delete;

    ObjectMoveHandler(ObjectMoveHandler&& omh) = delete;

    ObjectMoveHandler& operator=(const ObjectMoveHandler& omh) = delete;

    ObjectMoveHandler& operator=(ObjectMoveHandler&& omh) = delete;

    bool object_move_start(HLR::ObjectMoveStart::Request& req,
                           HLR::ObjectMoveStart::Response& res);

    bool object_move_cancel(HLR::ObjectMoveAction::Request& req,
                            HLR::ObjectMoveAction::Response& res);

    bool object_move_continue(HLR::ObjectMoveAction::Request& req,
                              HLR::ObjectMoveAction::Response& res);

    bool object_move_stop(HLR::ObjectMoveAction::Request& req,
                          HLR::ObjectMoveAction::Response& res);

private:
    std::uint8_t convert_controller_state_to_ros_msg(
        RobotControllerState state) const noexcept;

    std::uint8_t convert_error_to_ros_msg(ArmError err) const noexcept;

    ros::NodeHandle nh;

    ros::Publisher state_pub;

    ros::Publisher error_pub;

    ros::ServiceServer service_move_start;

    ros::ServiceServer service_move_stop;

    ros::ServiceServer service_move_continue;

    ros::ServiceServer service_move_cancel;

    RobotController& controller;
};

} // namespace Kinematics
} // namespace HLR

#endif /* KINEMATICS_OBJECT_MOVE_HANDLER_HPP */