.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_multi_ur5_sim_include_sm_multi_ur5_sim_clients_move_group_client_behaviors_cb_wait_joint_states.hpp:

Program Listing for File cb_wait_joint_states.hpp
=================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_multi_ur5_sim_include_sm_multi_ur5_sim_clients_move_group_client_behaviors_cb_wait_joint_states.hpp>` (``/tmp/ws/src/SMACC2/smacc2_sm_reference_library/sm_multi_ur5_sim/include/sm_multi_ur5_sim/clients/move_group/client_behaviors/cb_wait_joint_states.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 <sensor_msgs/msg/joint_state.hpp>
   #include <move_group_interface_client/common.hpp>
   #include <move_group_interface_client/cl_movegroup.hpp>
   
   #include <smacc2/smacc_asynchronous_client_behavior.hpp>
   #include <condition_variable>
   
   namespace cl_move_group_interface
   {
   class CbWaitJointState : public smacc2::SmaccAsyncClientBehavior
   {
   public:
     CbWaitJointState()
     {
   
     }
   
     void onEntry() override
     {
       ClMoveGroup * movegroupClient_;
       requiresClient(movegroupClient_);
   
       //auto group_name = movegroupClient_->getOptions().group_name_;
       std::string ns =  movegroupClient_->getOptions().move_group_namespace_;
   
       //auto topicname = "/joint_state_broadcaster_"UR5PREFIX"/joint_states";
   
       std::string topicname = "/joint_states";
       if (!ns.empty())
       {
           topicname = ns + "/" + topicname;
       }
   
       //rclcpp::SensorDataQoS qos;
       rclcpp::SubscriptionOptions sub_option;
   
       sub_ = getNode()->create_subscription<sensor_msgs::msg::JointState>(
           topicname, 20, std::bind(&CbWaitJointState::onMessageReceived, this, std::placeholders::_1),
           sub_option);
   
           mutex.lock();
       }
   
   private:
     void onMessageReceived(const sensor_msgs::msg::JointState & msg)
     {
         postSuccessEvent();
         mutex.unlock();
         sub_ = nullptr; // unsuscribe
     }
   
     bool triggered = false;
     std::mutex mutex;
     rclcpp::Subscription<sensor_msgs::msg::JointState>::SharedPtr sub_;
   };
   }