Program Listing for File cb_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 <ros_timer_client/cl_ros_timer.hpp>
#include <smacc2/smacc.hpp>
namespace cl_ros_timer
{
class CbTimer : public smacc2::SmaccClientBehavior
{
public:
void onEntry() override;
void onExit() override;
template <typename TOrthogonal, typename TSourceObject>
void onOrthogonalAllocation()
{
this->postTimerEvent_ = [this]()
{ this->template postEvent<EvTimer<TSourceObject, TOrthogonal>>(); };
}
void onClientTimerTickCallback();
private:
ClRosTimer * timerClient_;
std::function<void()> postTimerEvent_;
boost::signals2::scoped_connection c_;
};
} // namespace cl_ros_timer