.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_dance_bot_warehouse_include_sm_dance_bot_warehouse_clients_cl_temperature_sensor_client_behaviors_cb_custom_condition_temperature_sensor.hpp:

Program Listing for File cb_custom_condition_temperature_sensor.hpp
===================================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_dance_bot_warehouse_include_sm_dance_bot_warehouse_clients_cl_temperature_sensor_client_behaviors_cb_custom_condition_temperature_sensor.hpp>` (``/tmp/ws/src/SMACC2/smacc2_sm_reference_library/sm_dance_bot_warehouse/include/sm_dance_bot_warehouse/clients/cl_temperature_sensor/client_behaviors/cb_custom_condition_temperature_sensor.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.
   
   /*****************************************************************************************************************
    *
    *   Authors: Pablo Inigo Blasco, Brett Aldrich
    *
    ******************************************************************************************************************/
   
   #pragma once
   #include <multirole_sensor_client/client_behaviors/cb_default_multirole_sensor_behavior.hpp>
   #include <sensor_msgs/msg/temperature.hpp>
   #include <sm_dance_bot_warehouse/clients/cl_temperature_sensor/cl_temperature_sensor.hpp>
   
   namespace sm_dance_bot_warehouse
   {
   namespace cl_temperature_sensor
   {
   struct EvCustomTemperatureAlert : sc::event<EvCustomTemperatureAlert>
   {
   };
   
   //--------------------------------------------------------------------------------------
   class CbConditionTemperatureSensor
   : public cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior<ClTemperatureSensor>
   {
   public:
     CbConditionTemperatureSensor() {}
     void onEntry() override
     {
       RCLCPP_INFO(getLogger(), "[CbConditionTemperatureSensor] onEntry");
       cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior<ClTemperatureSensor>::onEntry();
     }
   
     void onMessageCallback(const sensor_msgs::msg::Temperature & msg) override
     {
       if (msg.temperature > 40)
       {
         auto ev = new EvCustomTemperatureAlert();
         this->postEvent(ev);
       }
     }
   };
   }  // namespace cl_temperature_sensor
   }  // namespace sm_dance_bot_warehouse