heartbeat.h

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#pragma once

// SPDX-License-Identifier: BSD-3-Clause
// SPDX-FileCopyrightText: Czech Technical University in Prague

#include <memory>

#include <ros/message_event.h>
#include <ros/publisher.h>
#include <ros/subscriber.h>
#include <topic_tools/shape_shifter.h>

#include <cras_cpp_common/nodelet_utils.hpp>
#include <cras_cpp_common/optional.hpp>
#include <cras_msgs/Heartbeat.h>

#include <cras_topic_tools/lazy_subscriber.hpp>

namespace cras
{

class HeartbeatNodelet : public ::cras::Nodelet
{
protected:
  typedef LazySubscriber<cras_msgs::Heartbeat, const ros::MessageEvent<const topic_tools::ShapeShifter>&>
    SubscriberType;

  void onInit() override;

  virtual void processMessage(const ::ros::MessageEvent<const ::topic_tools::ShapeShifter>& event);

  ros::Publisher pub;

  std::unique_ptr<SubscriberType> sub;

  cras::optional<bool> hasHeader {cras::nullopt};
};

}