.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_dance_bot_warehouse_3_include_sm_dance_bot_warehouse_3_clients_cl_string_publisher_client_behaviors_cb_string_publisher.hpp:

Program Listing for File cb_string_publisher.hpp
================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_dance_bot_warehouse_3_include_sm_dance_bot_warehouse_3_clients_cl_string_publisher_client_behaviors_cb_string_publisher.hpp>` (``/tmp/ws/src/SMACC2/smacc2_sm_reference_library/sm_dance_bot_warehouse_3/include/sm_dance_bot_warehouse_3/clients/cl_string_publisher/client_behaviors/cb_string_publisher.hpp``)

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.. 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 <sm_dance_bot_warehouse_3/clients/cl_string_publisher/cl_string_publisher.hpp>
   #include <smacc2/smacc_client_behavior.hpp>
   #include <std_msgs/msg/string.hpp>
   
   namespace sm_dance_bot_warehouse_3
   {
   namespace cl_string_publisher
   {
   class CbStringPublisher : public smacc2::SmaccClientBehavior
   {
   public:
     ClStringPublisher * publisherClient_;
     std::string msg_;
   
     CbStringPublisher(std::string msg) { msg_ = msg; }
   
     virtual void runtimeConfigure() override
     {
       RCLCPP_INFO_STREAM(
         getLogger(), "Creating CbStringPublisher behavior with stored message: " << msg_);
     }
   
     virtual void onEntry() { this->requiresClient(publisherClient_); }
   
     void onExit() override
     {
       std_msgs::msg::String rosmsg;
       rosmsg.data = msg_;
       publisherClient_->publish(rosmsg);
     }
   };
   }  // namespace cl_string_publisher
   }  // namespace sm_dance_bot_warehouse_3