repeat.h

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#pragma once
 
// SPDX-License-Identifier: BSD-3-Clause
// SPDX-FileCopyrightText: Czech Technical University in Prague
 
#include <memory>
#include <mutex>
#include <string>
 
#include <ros/duration.h>
#include <ros/forwards.h>
#include <ros/message_event.h>
#include <ros/publisher.h>
#include <ros/node_handle.h>
#include <ros/rate.h>
#include <ros/subscriber.h>
#include <ros/time.h>
#include <ros/timer.h>
#include <topic_tools/shape_shifter.h>
 
#include <cras_cpp_common/nodelet_utils.hpp>
#include <cras_cpp_common/optional.hpp>
 
#include <cras_topic_tools/generic_lazy_pubsub.hpp>
 
namespace cras
{
 
class RepeatMessagesNodelet : public ::cras::Nodelet
{
protected:
  ::std::unique_ptr<::cras::GenericLazyPubSub> pubSub;
 
  ::ros::Subscriber resetSub;
 
  void onInit() override;
 
  virtual void onReset(const ::ros::MessageEvent<const ::topic_tools::ShapeShifter>&);
 
  void reset();
 
  void processMessage(const ::ros::MessageEvent<const ::topic_tools::ShapeShifter>& event, ::ros::Publisher& pub);
 
  virtual void maybePublish();
 
  virtual bool inspectStamps() const;
 
  void everyPeriod(const ::ros::TimerEvent&);
 
  ::std::unique_ptr<::ros::Rate> rate;
 
  ::cras::optional<size_t> maxRepeats {::cras::nullopt};
 
  ::cras::optional<::ros::Duration> maxAge {::cras::nullopt};
 
  bool discardOlderMessages {false};
 
  bool resetOnMsg {true};
 
  bool publishOnlyOnTimer {false};
 
  ::std::mutex msgMutex;
 
  ::topic_tools::ShapeShifter::ConstPtr msg;
 
  ::cras::optional<::ros::Time> lastMsgStamp;
 
  size_t numRepeats {0};
 
  ::cras::optional<bool> hasHeader {::cras::nullopt};
 
  ::ros::Timer timer;
 
  ::ros::Publisher pub;
};
 
}