example_event_client.cpp

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// Headers in this package
#include <rostate_machine/example_event_client.h>

ExampleEventClient::ExampleEventClient(ros::NodeHandle nh,ros::NodeHandle pnh) : client_(nh,pnh,"example_state_machine_node")
{
    nh_ = nh;
    pnh_ = pnh;
    client_.registerCallback(std::bind(&ExampleEventClient::stopMotor, this),"stop_motor");
    client_.registerCallback(std::bind(&ExampleEventClient::checkMotor, this),"check_motor");
    client_.registerCallback(std::bind(&ExampleEventClient::checkRecovery, this),"check_recovery");
    client_.run();
}

ExampleEventClient::~ExampleEventClient()
{

}

boost::optional<rostate_machine::Event> ExampleEventClient::checkMotor()
{
    if(client_.getCurrentStateDuration().toSec()>1.0)
    {
        rostate_machine::Event ret;
        ret.header.stamp = ros::Time::now();
        ret.trigger_event_name = "motor_disconnected";
        return ret;
    }
    return boost::none;
}

boost::optional<rostate_machine::Event> ExampleEventClient::checkRecovery()
{
    if(client_.getCurrentStateDuration().toSec()>2.0)
    {
        rostate_machine::Event ret;
        ret.header.stamp = ros::Time::now();
        ret.trigger_event_name = "recovery";
        return ret;
    }
    return boost::none;
}

boost::optional<rostate_machine::Event> ExampleEventClient::stopMotor()
{
    return boost::none;
}