Program Listing for File wait_for_alert.hpp

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#ifndef AS2_BEHAVIOR_TREE__DECORATOR__WAIT_FOR_ALERT_HPP_
#define AS2_BEHAVIOR_TREE__DECORATOR__WAIT_FOR_ALERT_HPP_

#include <string>

#include "behaviortree_cpp_v3/decorator_node.h"

#include "as2_msgs/msg/alert_event.hpp"
#include "rclcpp/rclcpp.hpp"

namespace as2_behavior_tree
{
class WaitForAlert : public BT::DecoratorNode
{
public:
  WaitForAlert(
    const std::string & xml_tag_name,
    const BT::NodeConfiguration & conf);

  static BT::PortsList providedPorts()
  {
    return {BT::InputPort<std::string>("topic_name"), BT::OutputPort("alert")};
  }

private:
  BT::NodeStatus tick() override;

private:
  void callback(as2_msgs::msg::AlertEvent::SharedPtr msg);

private:
  rclcpp::Node::SharedPtr node_;
  rclcpp::CallbackGroup::SharedPtr callback_group_;
  rclcpp::executors::SingleThreadedExecutor callback_group_executor_;
  rclcpp::Subscription<as2_msgs::msg::AlertEvent>::SharedPtr sub_;
  std::string topic_name_;
  bool flag_ = false;
};

}  // namespace as2_behavior_tree

#endif  // AS2_BEHAVIOR_TREE__DECORATOR__WAIT_FOR_ALERT_HPP_