throttle_messages.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 <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/rate_limiter.h>
 
#include <cras_topic_tools/generic_lazy_pubsub.hpp>
 
namespace cras
{
 
class ThrottleMessagesNodelet : 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);
 
  ::std::unique_ptr<::cras::RateLimiter> limiter;
 
  ::std::mutex limiterMutex;
};
 
}