eufs.hpp

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#pragma once
 
#include "adapter_ekf_state_est/adapter.hpp"
#include "eufs_msgs/msg/cone_array_with_covariance.hpp"
 
class SENode;
 
class EufsAdapter : public Adapter {
  rclcpp::Subscription<eufs_msgs::msg::ConeArrayWithCovariance>::SharedPtr
      _perception_detections_subscription_;  
  rclcpp::Subscription<eufs_msgs::msg::WheelSpeedsStamped>::SharedPtr
      _eufs_wheel_speeds_subscription_;  
  rclcpp::Subscription<eufs_msgs::msg::CanState>::SharedPtr eufs_state_subscription_;
  rclcpp::Client<eufs_msgs::srv::SetCanState>::SharedPtr eufs_mission_state_client_;
  rclcpp::Client<eufs_msgs::srv::SetCanState>::SharedPtr eufs_ebs_client_;
 
public:
  explicit EufsAdapter(std::shared_ptr<SENode> se_node);
 
  void mission_state_callback(const eufs_msgs::msg::CanState& msg) const;
  void finish() final;
 
  void perception_detections_subscription_callback(
      const eufs_msgs::msg::ConeArrayWithCovariance& msg) const;
  void wheel_speeds_subscription_callback(const eufs_msgs::msg::WheelSpeedsStamped& msg) const;
};