Program Listing for File cb_default_publish_loop.hpp
↰ Return to documentation for file (include/ros_publisher_client/client_behaviors/cb_default_publish_loop.hpp
)
// 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 <ros_publisher_client/cl_ros_publisher.hpp>
#include <smacc2/smacc_client_behavior.hpp>
namespace cl_ros_publisher
{
class CbDefaultPublishLoop : public smacc2::SmaccClientBehavior, public smacc2::ISmaccUpdatable
{
private:
std::function<void()> deferedPublishFn_;
ClRosPublisher * client_;
public:
CbDefaultPublishLoop() : deferedPublishFn_(nullptr) {}
template <typename TMessage>
CbDefaultPublishLoop(const TMessage & data)
{
this->setMessage(data);
}
template <typename TMessage>
void setMessage(const TMessage & data)
{
deferedPublishFn_ = [this, data]() { this->client_->publish(data); };
}
void onEntry() override { this->requiresClient(client_); }
virtual void update()
{
if (deferedPublishFn_ != nullptr)
{
deferedPublishFn_();
}
}
void onExit() override {}
};
} // namespace cl_ros_publisher