// Copyright 2022 HarvestX Inc. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. // You may obtain a copy of the License at // // http://www.apache.org/licenses/LICENSE-2.0 // // Unless required by applicable law or agreed to in writing, software // distributed under the License is distributed on an "AS IS" BASIS, // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. #pragma once #include <string> #include <memory> #include <sensor_msgs/msg/joy.hpp> #include <rclcpp/rclcpp.hpp> #include "p9n_test/workflow_handler.hpp" #include <p9n_interface/p9n_interface.hpp> namespace p9n_test { class PlayStationTest : public rclcpp::Node { private: p9n_interface::HW_TYPE hw_type_; int max_trial_; std::unique_ptr<WorkflowHandler> wf_handler_; std::unique_ptr< p9n_interface::PlayStationInterface> p9n_interface_; rclcpp::Subscription<sensor_msgs::msg::Joy>::SharedPtr joy_sub_; public: explicit PlayStationTest(const rclcpp::NodeOptions &); void onJoy(sensor_msgs::msg::Joy::ConstSharedPtr); }; } // namespace p9n_test #include "rclcpp_components/register_node_macro.hpp" RCLCPP_COMPONENTS_REGISTER_NODE(p9n_test::PlayStationTest)