heartbeat.h

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#pragma once
 
// SPDX-License-Identifier: BSD-3-Clause
// SPDX-FileCopyrightText: Czech Technical University in Prague
 
#include <memory>
 
#include <ros/message_event.h>
#include <ros/publisher.h>
#include <ros/subscriber.h>
#include <topic_tools/shape_shifter.h>
 
#include <cras_cpp_common/nodelet_utils.hpp>
#include <cras_cpp_common/optional.hpp>
#include <cras_msgs/Heartbeat.h>
 
#include <cras_topic_tools/lazy_subscriber.hpp>
 
namespace cras
{
 
class HeartbeatNodelet : public ::cras::Nodelet
{
protected:
  typedef LazySubscriber<cras_msgs::Heartbeat, const ros::MessageEvent<const topic_tools::ShapeShifter>&>
    SubscriberType;
 
  void onInit() override;
 
  virtual void processMessage(const ::ros::MessageEvent<const ::topic_tools::ShapeShifter>& event);
 
  ros::Publisher pub;
 
  std::unique_ptr<SubscriberType> sub;
 
  cras::optional<bool> hasHeader {cras::nullopt};
};
 
}