repeat.h

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#pragma once

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

#include <memory>
#include <mutex>
#include <string>

#include <ros/duration.h>
#include <ros/forwards.h>
#include <ros/message_event.h>
#include <ros/publisher.h>
#include <ros/node_handle.h>
#include <ros/rate.h>
#include <ros/subscriber.h>
#include <ros/time.h>
#include <ros/timer.h>
#include <topic_tools/shape_shifter.h>

#include <cras_cpp_common/nodelet_utils.hpp>
#include <cras_cpp_common/optional.hpp>

#include <cras_topic_tools/generic_lazy_pubsub.hpp>

namespace cras
{

class RepeatMessagesNodelet : public ::cras::Nodelet
{
protected:
  ::std::unique_ptr<::cras::GenericLazyPubSub> pubSub;

  ::ros::Subscriber resetSub;

  void onInit() override;

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

  void reset();

  void processMessage(const ::ros::MessageEvent<const ::topic_tools::ShapeShifter>& event, ::ros::Publisher& pub);

  virtual void maybePublish();

  virtual bool inspectStamps() const;

  void everyPeriod(const ::ros::TimerEvent&);

  ::std::unique_ptr<::ros::Rate> rate;

  ::cras::optional<size_t> maxRepeats {::cras::nullopt};

  ::cras::optional<::ros::Duration> maxAge {::cras::nullopt};

  bool discardOlderMessages {false};

  bool resetOnMsg {true};

  bool publishOnlyOnTimer {false};

  ::std::mutex msgMutex;

  ::topic_tools::ShapeShifter::ConstPtr msg;

  ::cras::optional<::ros::Time> lastMsgStamp;

  size_t numRepeats {0};

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

  ::ros::Timer timer;

  ::ros::Publisher pub;
};

}