.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_pubsub_1_include_sm_pubsub_1_clients_cl_subscriber_client_behaviors_cb_my_subscriber_behavior.hpp:

Program Listing for File cb_my_subscriber_behavior.hpp
======================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_pubsub_1_include_sm_pubsub_1_clients_cl_subscriber_client_behaviors_cb_my_subscriber_behavior.hpp>` (``/tmp/ws/src/SMACC2/smacc2_sm_reference_library/sm_pubsub_1/include/sm_pubsub_1/clients/cl_subscriber/client_behaviors/cb_my_subscriber_behavior.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 <sm_pubsub_1/clients/cl_subscriber/cl_subscriber.hpp>
   
   namespace sm_pubsub_1
   {
   namespace cl_subscriber
   {
   template <typename TSource, typename TOrthogonal>
   struct EvMyBehavior : sc::event<EvMyBehavior<TSource, TOrthogonal>>
   {
   };
   
   class CbMySubscriberBehavior : public smacc2::SmaccClientBehavior
   {
   public:
     void onEntry()
     {
       ClSubscriber * client;
       this->requiresClient(client);
   
       client->onMessageReceived(&CbMySubscriberBehavior::onMessageReceived, this);
     }
   
     template <typename TOrthogonal, typename TSourceObject>
     void onOrthogonalAllocation()
     {
       postMyEvent_ = [=] { this->postEvent<EvMyBehavior<TSourceObject, TOrthogonal>>(); };
     }
   
     void onMessageReceived(const std_msgs::msg::Float32 & msg)
     {
       if (msg.data > 30)
       {
         RCLCPP_INFO(
           getLogger(),
           "[CbMySubscriberBehavior] received message from topic with value > 30. "
           "Posting event!");
         this->postMyEvent_();
       }
     }
   
     std::function<void()> postMyEvent_;
   };
   }  // namespace cl_subscriber
   }  // namespace sm_pubsub_1