led_rgb_device.hpp

// Copyright (c) 2024, Sherpa Mobile Robotics
//
// 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.
 
#ifndef SEMANTIC_COMPONENTS__LED_RGB_DEVICE_HPP_
#define SEMANTIC_COMPONENTS__LED_RGB_DEVICE_HPP_
 
#include <string>
#include <vector>
 
#include "semantic_components/semantic_component_command_interface.hpp"
#include "std_msgs/msg/color_rgba.hpp"
 
namespace semantic_components
{
class LedRgbDevice : public SemanticComponentCommandInterface<std_msgs::msg::ColorRGBA>
{
public:
  explicit LedRgbDevice(
    const std::string & name, const std::string & interface_r, const std::string & interface_g,
    const std::string & interface_b)
  : SemanticComponentCommandInterface(
      name, {{name + "/" + interface_r}, {name + "/" + interface_g}, {name + "/" + interface_b}})
  {
  }
 
  bool set_values_from_message(const std_msgs::msg::ColorRGBA & message) override
  {
    if (
      message.r < 0 || message.r > 1 || message.g < 0 || message.g > 1 || message.b < 0 ||
      message.b > 1)
    {
      return false;
    }
    bool all_set = true;
    all_set &= command_interfaces_[0].get().set_value(static_cast<double>(message.r));
    all_set &= command_interfaces_[1].get().set_value(static_cast<double>(message.g));
    all_set &= command_interfaces_[2].get().set_value(static_cast<double>(message.b));
    return all_set;
  }
};
 
}  // namespace semantic_components
 
#endif  // SEMANTIC_COMPONENTS__LED_RGB_DEVICE_HPP_