.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_client_library_multirole_sensor_client_include_multirole_sensor_client_cl_multirole_sensor.hpp:

Program Listing for File cl_multirole_sensor.hpp
================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_SMACC2_smacc2_client_library_multirole_sensor_client_include_multirole_sensor_client_cl_multirole_sensor.hpp>` (``/tmp/ws/src/SMACC2/smacc2_client_library/multirole_sensor_client/include/multirole_sensor_client/cl_multirole_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.
   
   #pragma once
   
   #include <optional>
   #include <rclcpp/rclcpp.hpp>
   #include <smacc2/client_bases/smacc_subscriber_client.hpp>
   #include <smacc2/impl/smacc_state_machine_impl.hpp>
   #include <smacc2/smacc_signal.hpp>
   
   namespace cl_multirole_sensor
   {
   using namespace smacc2;
   
   template <typename TSource, typename TOrthogonal>
   struct EvTopicMessageTimeout : sc::event<EvTopicMessageTimeout<TSource, TOrthogonal>>
   {
   };
   
   using namespace smacc2::client_bases;
   
   // This class extends a ros topic subscriber object that reads from
   // some sensor source. It provides timeout event.
   template <typename MessageType>
   class ClMultiroleSensor : public smacc2::client_bases::SmaccSubscriberClient<MessageType>
   {
   public:
     typedef MessageType TMessageType;
     SmaccSignal<void()> onMessageTimeout_;
   
     ClMultiroleSensor() : smacc2::client_bases::SmaccSubscriberClient<MessageType>()
     {
       initialized_ = false;
     }
   
     template <typename T>
     boost::signals2::connection onMessageTimeout(void (T::*callback)(), T * object)
     {
       return this->getStateMachine()->createSignalConnection(onMessageTimeout_, callback, object);
     }
   
     std::function<void()> postTimeoutMessageEvent;
   
     template <typename TOrthogonal, typename TSourceObject>
     void onOrthogonalAllocation()
     {
       SmaccSubscriberClient<MessageType>::template onOrthogonalAllocation<
         TOrthogonal, TSourceObject>();
   
       this->postTimeoutMessageEvent = [this]() {
         this->onMessageTimeout_();
   
         auto event = new EvTopicMessageTimeout<TSourceObject, TOrthogonal>();
         this->postEvent(event);
       };
     }
   
     void onInitialize() override
     {
       if (!initialized_)
       {
         SmaccSubscriberClient<MessageType>::onInitialize();
   
         this->onMessageReceived(&ClMultiroleSensor<MessageType>::resetTimer, this);
   
         if (timeout_)
         {
           auto ros_clock = rclcpp::Clock::make_shared();
           timeoutTimer_ = rclcpp::create_timer(
             this->getNode(), this->getNode()->get_clock(), *timeout_,
             std::bind(&ClMultiroleSensor<MessageType>::timeoutCallback, this));
   
           timeoutTimer_->reset();
         }
         else
         {
           RCLCPP_WARN(
             this->getLogger(),
             "Timeout sensor client not set, skipping timeout watchdog funcionality");
         }
   
         initialized_ = true;
       }
     }
   
     std::optional<rclcpp::Duration> timeout_;
   
   protected:
     void resetTimer(const MessageType & /*msg*/)
     {
       //resetting the timer
       timeoutTimer_->reset();
       //timeoutTimer_->stop();
       //timeoutTimer_->start();
     }
   
   private:
     rclcpp::TimerBase::SharedPtr timeoutTimer_;
     bool initialized_;
   
     void timeoutCallback() { postTimeoutMessageEvent(); }
   };
   }  // namespace cl_multirole_sensor