Program Listing for File cb_wait_node.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 <functional>
#include <rclcpp/rclcpp.hpp>
#include <smacc2/smacc_asynchronous_client_behavior.hpp>
namespace smacc2::client_behaviors
{
using namespace std::chrono_literals;
// Asynchronous behavior that waits to a topic message to send EvCbSuccess event
// a guard function can be set to use conditions on the contents
class CbWaitNode : public smacc2::SmaccAsyncClientBehavior
{
public:
CbWaitNode(std::string nodeName);
void onEntry() override;
protected:
std::string nodeName_;
rclcpp::Rate rate_;
};
} // namespace smacc2::client_behaviors