.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_client_library_multirole_sensor_client_include_multirole_sensor_client_client_behaviors_cb_default_multirole_sensor_behavior.hpp:

Program Listing for File cb_default_multirole_sensor_behavior.hpp
=================================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_SMACC2_smacc2_client_library_multirole_sensor_client_include_multirole_sensor_client_client_behaviors_cb_default_multirole_sensor_behavior.hpp>` (``/tmp/ws/src/SMACC2/smacc2_client_library/multirole_sensor_client/include/multirole_sensor_client/client_behaviors/cb_default_multirole_sensor_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 <multirole_sensor_client/cl_multirole_sensor.hpp>
   
   #include <string>
   
   #include <smacc2/smacc_client_behavior.hpp>
   
   namespace cl_multirole_sensor
   {
   template <typename ClientType>
   class CbDefaultMultiRoleSensorBehavior : public smacc2::SmaccClientBehavior
   {
   public:
     typedef typename ClientType::TMessageType TMessageType;
   
     ClientType * sensor_;
   
     CbDefaultMultiRoleSensorBehavior() { sensor_ = nullptr; }
   
     static std::string getEventLabel()
     {
       // show ros message type
       return demangleSymbol(typeid(TMessageType).name());
     }
   
     std::function<void()> deferedEventPropagation;
   
     template <typename TOrthogonal, typename TSourceObject>
     void onOrthogonalAllocation()
     {
       deferedEventPropagation = [this]() {
         RCLCPP_INFO(
           getLogger(), "[CbDefaultMultiRoleSensorBehavior] onEntry. Requires client of type '%s'",
           demangleSymbol<ClientType>().c_str());
   
         // just propagate the client events from this client behavior source.
         sensor_->onMessageReceived(
           &CbDefaultMultiRoleSensorBehavior<ClientType>::propagateEvent<
             EvTopicMessage<TSourceObject, TOrthogonal>>,
           this);
         sensor_->onFirstMessageReceived(
           &CbDefaultMultiRoleSensorBehavior<ClientType>::propagateEvent<
             EvTopicInitialMessage<TSourceObject, TOrthogonal>>,
           this);
         sensor_->onMessageTimeout(
           &CbDefaultMultiRoleSensorBehavior<ClientType>::propagateEvent2<
             EvTopicMessageTimeout<TSourceObject, TOrthogonal>>,
           this);
       };
     }
   
     template <typename EvType>
     void propagateEvent(const TMessageType & /*msg*/)
     {
       // TODO: copy event concept fields
       this->postEvent<EvType>();
     }
   
     template <typename EvType>
     void propagateEvent2()
     {
       this->postEvent<EvType>();
     }
   
     void onEntry() override
     {
       RCLCPP_INFO(
         getLogger(), "[CbDefaultMultiRoleSensorBehavior] onEntry. Requires client of type '%s'",
         demangleSymbol<ClientType>().c_str());
   
       if (sensor_ == nullptr)
       {
         this->requiresClient(sensor_);
       }
   
       if (sensor_ == nullptr)
       {
         RCLCPP_FATAL_STREAM(
           getLogger(),
           "[CbDefaultMultiRoleSensorBehavior]Sensor client behavior needs a client of type: "
             << demangleSymbol<ClientType>() << " but it is not found.");
       }
       else
       {
         deferedEventPropagation();
         RCLCPP_INFO(getLogger(), "[CbDefaultMultiRoleSensorBehavior] onEntry. sensor initialize");
       }
     }
   
     void onExit() {}
   
     virtual void onMessageCallback(const TMessageType & /*msg*/)
     {
       // empty to fill by sensor customization based on inheritance
     }
   };
   }  // namespace cl_multirole_sensor