cb_wait_topic_message.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 <functional>
#include <rclcpp/rclcpp.hpp>
#include <smacc2/smacc_asynchronous_client_behavior.hpp>
 
namespace smacc2
{
namespace client_behaviors
{
using namespace std::chrono_literals;
 
// Asynchronous behavior that waits to a topic message to send EvCbSuccess event
// a guard function can be set to use conditions on the contents
template <typename TMessage>
class CbWaitTopicMessage : public smacc2::SmaccAsyncClientBehavior
{
public:
  CbWaitTopicMessage(
    const char * topicname, std::function<bool(const TMessage &)> guardFunction = nullptr)
  {
    topicname_ = topicname;
    guardFn_ = guardFunction;
  }
 
  virtual ~CbWaitTopicMessage() {}
 
  void onEntry() override
  {
    rclcpp::SensorDataQoS qos;
    // qos.reliable();
    // rclcpp::SubscriptionOptions sub_option;
    RCLCPP_INFO_STREAM(
      getLogger(), "[CbWaitTopicMessage] waiting message from topic: "
                     << topicname_ << "[" << demangledTypeName<TMessage>() << "]");
 
    // sub_ = getNode()->create_subscription<TMessage>(
    //   topicname_, qos,
    //   std::bind(&CbWaitTopicMessage<TMessage>::onMessageReceived, this, std::placeholders::_1),
    //   sub_option);
 
    std::function<void(typename TMessage::SharedPtr)> fn = [this](auto msg)
    { this->onMessageReceived(msg); };
 
    auto nh = getNode();
    sub_ = nh->create_subscription<TMessage>(topicname_, qos, fn);
  }
 
  void onMessageReceived(const typename TMessage::SharedPtr msg)
  {
    if (guardFn_ == nullptr || guardFn_(*msg))
    {
      RCLCPP_INFO(getLogger(), "[CbWaitTopicMessage] message received.");
      success = true;
      this->postSuccessEvent();
    }
  }
 
protected:
  bool success = false;
  typename rclcpp::Subscription<TMessage>::SharedPtr sub_;
  std::function<bool(const TMessage &)> guardFn_;
  std::string topicname_;
};
}  // namespace client_behaviors
}  // namespace smacc2