setpoint_control_interface.hpp

// Copyright (C) 2024 Avular Holding B.V. - All Rights Reserved
// You may use this code under the terms of the Avular
// Software End-User License Agreement.
//
// You should have received a copy of the Avular
// Software End-User License Agreement license with
// this file, or download it from: avular.com/eula
//
/*****************************************************************************
 * Created on: 2024 August 21
 * Author: Robbert-Jan de Jager
 *
 * Declaration of the ISetpointControlInterface class.
 ****************************************************************************/
#pragma once
 
#include <creos/client_global.hpp>
#include <creos/messages/command.hpp>
#include <creos/messages/control_source.hpp>
#include <creos/messages/interface_info.hpp>
#include <creos/messages/state_reference.hpp>
#include <creos/messages/twist.hpp>
#include <creos/subscription.hpp>
 
namespace creos {
 
class CREOS_CLIENT_API ISetpointControlInterface {
public:
    static constexpr char name[] = "setpoint_control";
    static constexpr unsigned version = 1;
 
    virtual ~ISetpointControlInterface() = default;
 
    virtual void publishVelocityCommand(const creos_messages::Twist& cmd_vel) = 0;
 
    virtual void setControlSource(const creos_messages::ControlSource& source, int timeout_ms = 5000) = 0;
 
    virtual SubscriptionId subscribeToCurrentControlSource(
        const std::function<void(const creos_messages::ControlSource&)>& callback) = 0;
 
    virtual creos_messages::ControlSource getCurrentControlSource(int timeout_ms = 1500) = 0;
 
    virtual void sendCommand(const creos_messages::Command command, int timeout_ms = 5000) = 0;
 
    virtual void sendCommand(const creos_messages::CommandStamped command, int timeout_ms = 5000) = 0;
 
    virtual void publishStateReference(const creos_messages::StateReference& state_reference) = 0;
};
}  // namespace creos