wait_for_message.h

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/*
 * Copyright (c) 2019 Pilz GmbH & Co. KG
 *
 * 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.
 */

#ifndef PILZ_UTILS_WAIT_FOR_MESSAGE_H
#define PILZ_UTILS_WAIT_FOR_MESSAGE_H

#include <string>

#include <ros/ros.h>
#include <ros/duration.h>

#include <pilz_utils/wait_for_timeouts.h>

namespace pilz_utils
{

template<class T>
static void waitForMessage(const std::string topic_name,
                           const double retry_timeout = DEFAULT_RETRY_TIMEOUT,
                           const double msg_output_period = DEFAULT_MSG_OUTPUT_PERIOD)
{
  while ( (ros::topic::waitForMessage<T>(topic_name, ros::Duration(retry_timeout)) == nullptr) && ros::ok())
  {
    ROS_DEBUG_STREAM_DELAYED_THROTTLE(msg_output_period,
                                     "Waiting for message on topic \""
                                     + topic_name + "\"...");
  }
}

}

#endif // PILZ_UTILS_WAIT_FOR_MESSAGE_H