Program Listing for File cl_ros_timer.hpp
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// Copyright 2021 RobosoftAI 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 <boost/signals2.hpp>
#include <chrono>
#include <optional>
#include <smacc2/smacc.hpp>
namespace cl_ros_timer
{
template <typename TSource, typename TOrthogonal>
struct EvTimer : sc::event<EvTimer<TSource, TOrthogonal>>
{
/*
ClRosTimer *sender;
rclcpp::TimerEvent timedata;
EvTimer(ClRosTimer *sender, const rclcpp::TimerEvent &timedata)
{
this->sender = sender;
this->timedata = timedata;
}
*/
};
class ClRosTimer : public smacc2::ISmaccClient
{
public:
ClRosTimer(rclcpp::Duration duration, bool oneshot = false);
virtual ~ClRosTimer();
virtual void initialize();
template <typename T>
boost::signals2::connection onTimerTick(void (T::*callback)(), T * object)
{
return this->getStateMachine()->createSignalConnection(onTimerTick_, callback, object);
}
template <typename TOrthogonal, typename TSourceObject>
void onOrthogonalAllocation()
{
this->postTimerEvent_ = [=]() { this->postEvent<EvTimer<TSourceObject, TOrthogonal>>(); };
}
protected:
rclcpp::TimerBase::SharedPtr timer_;
rclcpp::Duration duration_;
bool oneshot_;
void timerCallback();
std::function<void()> postTimerEvent_;
smacc2::SmaccSignal<void()> onTimerTick_;
};
} // namespace cl_ros_timer