cb_default_publish_loop.hpp

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// Copyright 2021 RobosoftAI Inc.
//
// 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.
 
/*****************************************************************************************************************
 *
 *   Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 ******************************************************************************************************************/
#pragma once
#include <ros_publisher_client/cl_ros_publisher.hpp>
#include <smacc2/smacc_client_behavior.hpp>
 
namespace cl_ros_publisher
{
class CbDefaultPublishLoop : public smacc2::SmaccClientBehavior, public smacc2::ISmaccUpdatable
{
private:
  std::function<void()> deferedPublishFn_;
  ClRosPublisher * client_;
 
public:
  CbDefaultPublishLoop() : deferedPublishFn_(nullptr) {}
 
  template <typename TMessage>
  CbDefaultPublishLoop(const TMessage & data)
  {
    this->setMessage(data);
  }
 
  template <typename TMessage>
  void setMessage(const TMessage & data)
  {
    deferedPublishFn_ = [this, data]() { this->client_->publish(data); };
  }
 
  void onEntry() override { this->requiresClient(client_); }
 
  virtual void update()
  {
    if (deferedPublishFn_ != nullptr)
    {
      deferedPublishFn_();
    }
  }
 
  void onExit() override {}
};
}  // namespace cl_ros_publisher