Program Listing for File cb_timer_countdown_once.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 <ros_timer_client/cl_ros_timer.hpp>
#include <smacc2/smacc.hpp>
namespace cl_ros_timer
{
class CbTimerCountdownOnce : public smacc2::SmaccClientBehavior
{
public:
CbTimerCountdownOnce(int64_t triggerTickCount);
void onEntry() override;
void onEntry() override;
template <typename TOrthogonal, typename TSourceObject>
void onOrthogonalAllocation()
{
this->postCountDownEvent_ = [=]()
{ this->template postEvent<EvTimer<TSourceObject, TOrthogonal>>(); };
}
template <typename T>
boost::signals2::connection onTimerTick(void (T::*callback)(), T * object)
{
return this->getStateMachine()->createSignalConnection(onTimerTick_, callback, object);
}
private:
int64_t tickCounter_;
int64_t tickTriggerCount_;
ClRosTimer * timerClient_;
std::function<void()> postCountDownEvent_;
smacc2::SmaccSignal<void()> onTimerTick_;
void onClientTimerTickCallback();
};
} // namespace cl_ros_timer