SMACC2
Loading...
Searching...
No Matches
cb_wait_node.cpp
Go to the documentation of this file.
1// Copyright 2021 RobosoftAI Inc.
2//
3// Licensed under the Apache License, Version 2.0 (the "License");
4// you may not use this file except in compliance with the License.
5// You may obtain a copy of the License at
6//
7// http://www.apache.org/licenses/LICENSE-2.0
8//
9// Unless required by applicable law or agreed to in writing, software
10// distributed under the License is distributed on an "AS IS" BASIS,
11// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12// See the License for the specific language governing permissions and
13// limitations under the License.
14
15/*****************************************************************************************************************
16 *
17 * Authors: Pablo Inigo Blasco, Brett Aldrich
18 *
19 ******************************************************************************************************************/
20
22
23namespace smacc2
24{
25namespace client_behaviors
26{
27CbWaitNode::CbWaitNode(std::string nodeName) : nodeName_(nodeName), rate_(5) {}
28
30{
31 bool found = false;
32 while (!this->isShutdownRequested() && !found)
33 {
34 std::stringstream ss;
35 auto nodenames = getNode()->get_node_names();
36 for (auto n : nodenames)
37 {
38 ss << " - " << n << std::endl;
39
40 if (n == nodeName_) found = true;
41 }
42
43 auto totalstr = ss.str();
44 RCLCPP_INFO_STREAM(
45 getLogger(), "[" << getName() << "] on entry, listing nodes (" << nodenames.size() << ")"
46 << std::endl
47 << totalstr);
48
49 rate_.sleep();
50 }
51
52 if (found)
53 {
54 this->postSuccessEvent();
55 }
56 else
57 {
58 this->postFailureEvent();
59 }
60}
61
62} // namespace client_behaviors
63} // namespace smacc2
virtual rclcpp::Logger getLogger() const
virtual rclcpp::Node::SharedPtr getNode() const