robot_activity_tutorials.cpp

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 * Author: Maciej Zurad
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#include <robot_activity_tutorials/robot_activity_tutorials.h>

namespace robot_activity_tutorials
{

void RobotActivityTutorials::timerCallback()
{
  ROS_INFO_STREAM(getNamespace() << " " << counter);
  counter++;
}

void RobotActivityTutorials::heartbeatCallback(
  boost::shared_ptr<robot_activity_msgs::State const> msg)
{
  ROS_INFO_STREAM(getNamespace() << " State: " << unsigned(msg->state));
}

bool RobotActivityTutorials::serviceCallback(
  std_srvs::Empty::Request& request,
  std_srvs::Empty::Response& response)
{
  ROS_INFO_STREAM(getNamespace() << " Service called, returning true");
  return true;
}

void RobotActivityTutorials::onManagedCreate()
{
  ROS_INFO("onManagedCreate");
  /*
    C++11 lambda as Timer's callback
    context is a local variable, which is **copied** ([=]) into lambda its
    state can be changed due to **mutable** keyword
    The lambda callback has access to the class object since ([=]) captures
    **this** by reference, therefore we can access **node_namespace_**,
    which resides in RobotActivity class
  */
  int context = 0;
  robot_activity::IsolatedAsyncTimer::LambdaCallback cb = [ = ]() mutable
  {
    ROS_INFO_STREAM(getNamespace() << " " << context);
    context++;
  };

  /*
    registers the previous callback in timer at 1Hz, which is stoppable
    meaning that Timer will only be fired in RUNNING state
  */
  registerIsolatedTimer(cb, 1.0, true);


  /*
    registers timer with a member function of this class as a callback,
    which is std::bind'ed or boost:bind'ed
    This timer is unstoppable
  */
  registerIsolatedTimer(
    std::bind(&RobotActivityTutorials::timerCallback, this),
    1.0,
    false);

  subscriber_manager.subscribe("/heartbeat", 1, &RobotActivityTutorials::heartbeatCallback, this);
  service_manager.advertiseService("/test", &RobotActivityTutorials::serviceCallback, this);
}

void RobotActivityTutorials::onManagedTerminate()
{
  ROS_INFO("onManagedTerminate");
}

bool RobotActivityTutorials::onManagedConfigure()
{
  ROS_INFO("onManagedConfigure");
  return true;
}

bool RobotActivityTutorials::onManagedUnconfigure()
{
  ROS_INFO("onManagedUnconfigure");
  return true;
}

bool RobotActivityTutorials::onManagedStart()
{
  ROS_INFO("onManagedStart");
  return true;
}

bool RobotActivityTutorials::onManagedStop()
{
  ROS_INFO("onManagedStop");
  return true;
}

bool RobotActivityTutorials::onManagedPause()
{
  ROS_INFO("onManagedPause");
  return true;
}

bool RobotActivityTutorials::onManagedResume()
{
  ROS_INFO("onManagedResume");
  return true;
}

}  // namespace robot_activity_tutorials