#include <smacc_updatable.hpp>

Inheritance diagram for smacc2::ISmaccUpdatable:

Collaboration diagram for smacc2::ISmaccUpdatable:

Public Member Functions
	ISmaccUpdatable ()

	ISmaccUpdatable (rclcpp::Duration duration)

void	executeUpdate (rclcpp::Node::SharedPtr node)

void	setUpdatePeriod (rclcpp::Duration duration)

Protected Member Functions
virtual void	update ()=0

Private Attributes
std::optional< rclcpp::Duration >	periodDuration_

std::optional< rclcpp::Time >	lastUpdate_

Detailed Description

Definition at line 32 of file smacc_updatable.hpp.

Constructor & Destructor Documentation

◆ ISmaccUpdatable() [1/2]

smacc2::ISmaccUpdatable::ISmaccUpdatable ( )

Definition at line 25 of file smacc_updatable.cpp.

25{}

◆ ISmaccUpdatable() [2/2]

smacc2::ISmaccUpdatable::ISmaccUpdatable ( rclcpp::Duration duration )

explicit

Definition at line 27 of file smacc_updatable.cpp.

27: periodDuration_(duration) {}

smacc2::ISmaccUpdatable::periodDuration_

std::optional< rclcpp::Duration > periodDuration_

Definition: smacc_updatable.hpp:45

Member Function Documentation

◆ executeUpdate()

void smacc2::ISmaccUpdatable::executeUpdate ( rclcpp::Node::SharedPtr node )

Definition at line 31 of file smacc_updatable.cpp.

{
  bool triggerUpdateMethod = true;
  if (periodDuration_)
  {
    auto now = node->get_clock()->now();
 
    if (!lastUpdate_)
    {
      lastUpdate_ = now;
    }
 
    auto elapsed = now - *lastUpdate_;
    triggerUpdateMethod = elapsed > *periodDuration_;
    if (triggerUpdateMethod)
    {
      this->lastUpdate_ = now;
    }
  }
 
  if (triggerUpdateMethod)
  {
    this->update();
  }
}