Program Listing for File cb_my_subscriber_behavior.hpp
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// 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