Program Listing for File cb_sleep_for.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.
/*****************************************************************************************************************
*
* Authors: Pablo Inigo Blasco, Brett Aldrich
*
******************************************************************************************************************/
#pragma once
#include <rclcpp/duration.hpp>
#include <rclcpp/rclcpp.hpp>
#include <smacc2/smacc_asynchronous_client_behavior.hpp>
namespace smacc2::client_behaviors
{
using namespace std::chrono_literals;
class CbSleepFor : public smacc2::SmaccAsyncClientBehavior
{
public:
CbSleepFor(rclcpp::Duration sleeptime) : sleeptime_(sleeptime) {}
void onEntry() override
{
auto starttime = getNode()->now();
while (!this->isShutdownRequested() && (getNode()->now() - starttime) < sleeptime_)
{
rclcpp::sleep_for(10ms);
}
//rclcpp::sleep_for(std::chrono::nanoseconds(sleeptime_.nanoseconds()));
this->postSuccessEvent();
}
void onExit() override {}
private:
rclcpp::Duration sleeptime_;
};
} // namespace smacc2::client_behaviors