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#ifndef _MANAGER_H_
#define _MANAGER_H_

#include <ros/ros.h>
#include <iostream>

#include <atlascar_base/ManagerStatus.h>
#include <atlascar_base/ManagerCommand.h>

#include <atlascar_base/GearboxStatus.h>
#include <atlascar_base/GearboxCommand.h>

#include <human_driver_monitor/HumanDriverMonitorStatus.h>
#include <odometer/OdometerStatus.h>

#include <atlascar_base/ThrottleStatus.h>
#include <atlascar_base/ThrottleCommand.h>

#include <atlascar_base/PlcStatus.h>
#include <atlascar_base/PlcCommand.h>

#include <topic_priority/topic_priority.h>

namespace atlascar_base
{

class Manager
{
        public:
                Manager(const ros::NodeHandle& nh);
                
                ~Manager();
                
                void init();
                
                void setupMessaging();
                
                void loop();
        private:
                
                void commandCallback(const atlascar_base::ManagerCommandPtr& command);
                
                void plcStatusCallback(const atlascar_base::PlcStatusPtr& status);
                
                void driverStatusCallback(const human_driver_monitor::HumanDriverMonitorStatusPtr& status);
                
                void odometerStatusCallback(const odometer::OdometerStatusPtr& status);
                
                void gearboxStatusCallback(const atlascar_base::GearboxStatusPtr& status);
                
                void throttleStatusCallback(const atlascar_base::ThrottleStatusPtr& status);    
        
                void toOutgoingMessages(const atlascar_base::ManagerCommandPtr& command);
                
                void stateManager(const atlascar_base::ManagerCommandPtr& command);
                
                ros::NodeHandle nh_;
                ros::Subscriber command_sub_;
                ros::Subscriber status_plc_sub_;
                ros::Subscriber status_driver_sub_;
                ros::Subscriber status_odometer_sub_;
                ros::Subscriber status_gearbox_sub_;
                ros::Subscriber status_throttle_sub_;
                ros::Publisher status_pub_;
                ros::Publisher command_plc_pub_;
                ros::Publisher command_gearbox_pub_;
                ros::Publisher command_throttle_pub_;
                TopicQueuePriority<atlascar_base::ManagerCommandPtr> command_queue_;            
                bool verbose_;
                atlascar_base::ManagerCommandPtr command_;
                atlascar_base::ManagerCommandPtr safety_command_;
                atlascar_base::ManagerStatus status_;
                atlascar_base::GearboxCommand gearbox_command_;
                atlascar_base::GearboxStatus gearbox_status_;
                atlascar_base::PlcCommand plc_command_;
                atlascar_base::PlcStatus plc_status_;
                human_driver_monitor::HumanDriverMonitorStatus driver_status_;
                atlascar_base::ThrottleCommand throttle_command_;
                atlascar_base::ThrottleStatus throttle_status_;
                odometer::OdometerStatus odometer_status_;
};

}

#endif

---

atlascar_base
Author(s): Jorge Almeida, Miguel Oliveira, Pedro Salvado, Andre Oliveira and Pedro Pinheiro
autogenerated on Wed Jul 23 04:34:34 2014