.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_client_library_ros_timer_client_include_include_ros_timer_client_client_behaviors_cb_timer_countdown_loop.hpp:

Program Listing for File cb_timer_countdown_loop.hpp
====================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_SMACC2_smacc2_client_library_ros_timer_client_include_include_ros_timer_client_client_behaviors_cb_timer_countdown_loop.hpp>` (``/tmp/ws/src/SMACC2/smacc2_client_library/ros_timer_client/include/include/ros_timer_client/client_behaviors/cb_timer_countdown_loop.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // 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.
   
   #pragma once
   
   #include <ros_timer_client/cl_ros_timer.hpp>
   #include <smacc2/smacc.hpp>
   
   namespace cl_ros_timer
   {
   class CbTimerCountdownLoop : public smacc2::SmaccClientBehavior
   {
   public:
     CbTimerCountdownLoop(unsigned long triggerTickCount);
   
     void onEntry() override;
     void onEntry() override;
   
     template <typename TOrthogonal, typename TSourceObject>
     void onOrthogonalAllocation()
     {
       this->postCountDownEvent_ = [=]() {
         this->template postEvent<EvTimer<TSourceObject, TOrthogonal>>();
       };
     }
   
     template <typename T>
     boost::signals2::connection onTimerTick(void (T::*callback)(), T * object)
     {
       return this->getStateMachine()->createSignalConnection(onTimerTick_, callback, object);
     }
   
   private:
     unsigned long tickTriggerCount_;
     unsigned long tickCounter_;
   
     ClRosTimer * timerClient_;
     std::function<void()> postCountDownEvent_;
     smacc2::SmaccSignal<void()> onTimerTick_;
     void onClientTimerTickCallback();
   };
   }  // namespace cl_ros_timer