Program Listing for File cb_string_publisher.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 <sm_dance_bot/clients/cl_string_publisher/cl_string_publisher.hpp>
#include <smacc2/smacc_client_behavior.hpp>
#include <std_msgs/msg/string.hpp>
namespace sm_dance_bot
{
namespace cl_string_publisher
{
class CbStringPublisher : public smacc2::SmaccClientBehavior
{
public:
ClStringPublisher * publisherClient_;
std::string msg_;
CbStringPublisher(std::string msg) { msg_ = msg; }
virtual void runtimeConfigure() override
{
RCLCPP_INFO_STREAM(
getLogger(), "Creating CbStringPublisher behavior with stored message: " << msg_);
}
virtual void onEntry() { this->requiresClient(publisherClient_); }
void onExit() override
{
std_msgs::msg::String rosmsg;
rosmsg.data = msg_;
publisherClient_->publish(rosmsg);
}
};
} // namespace cl_string_publisher
} // namespace sm_dance_bot