cl_multirole_sensor.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.
 
#pragma once
 
#include <optional>
#include <rclcpp/rclcpp.hpp>
#include <smacc2/client_bases/smacc_subscriber_client.hpp>
#include <smacc2/impl/smacc_state_machine_impl.hpp>
#include <smacc2/smacc_signal.hpp>
 
namespace cl_multirole_sensor
{
using namespace smacc2;
 
template <typename TSource, typename TOrthogonal>
struct EvTopicMessageTimeout : sc::event<EvTopicMessageTimeout<TSource, TOrthogonal>>
{
};
 
using namespace smacc2::client_bases;
 
// This class extends a ros topic subscriber object that reads from
// some sensor source. It provides timeout event.
template <typename MessageType>
class ClMultiroleSensor : public smacc2::client_bases::SmaccSubscriberClient<MessageType>
{
public:
  typedef MessageType TMessageType;
  SmaccSignal<void()> onMessageTimeout_;
 
  ClMultiroleSensor() : smacc2::client_bases::SmaccSubscriberClient<MessageType>()
  {
    initialized_ = false;
  }
 
  template <typename T>
  boost::signals2::connection onMessageTimeout(void (T::*callback)(), T * object)
  {
    return this->getStateMachine()->createSignalConnection(onMessageTimeout_, callback, object);
  }
 
  std::function<void()> postTimeoutMessageEvent;
 
  template <typename TOrthogonal, typename TSourceObject>
  void onOrthogonalAllocation()
  {
    SmaccSubscriberClient<MessageType>::template onOrthogonalAllocation<
      TOrthogonal, TSourceObject>();
 
    this->postTimeoutMessageEvent = [this]()
    {
      this->onMessageTimeout_();
 
      auto event = new EvTopicMessageTimeout<TSourceObject, TOrthogonal>();
      this->postEvent(event);
    };
  }
 
  void onInitialize() override
  {
    if (!initialized_)
    {
      SmaccSubscriberClient<MessageType>::onInitialize();
 
      this->onMessageReceived(&ClMultiroleSensor<MessageType>::resetTimer, this);
 
      if (timeout_)
      {
        auto ros_clock = rclcpp::Clock::make_shared();
        timeoutTimer_ = rclcpp::create_timer(
          this->getNode(), this->getNode()->get_clock(), *timeout_,
          std::bind(&ClMultiroleSensor<MessageType>::timeoutCallback, this));
 
        timeoutTimer_->reset();
      }
      else
      {
        RCLCPP_WARN(
          this->getLogger(),
          "Timeout sensor client not set, skipping timeout watchdog funcionality");
      }
 
      initialized_ = true;
    }
  }
 
  std::optional<rclcpp::Duration> timeout_;
 
protected:
  void resetTimer(const MessageType & /*msg*/)
  {
    //resetting the timer
    timeoutTimer_->reset();
    //timeoutTimer_->stop();
    //timeoutTimer_->start();
  }
 
private:
  rclcpp::TimerBase::SharedPtr timeoutTimer_;
  bool initialized_;
 
  void timeoutCallback() { postTimeoutMessageEvent(); }
};
}  // namespace cl_multirole_sensor