cl_ros_timer.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 <boost/signals2.hpp>
#include <chrono>
#include <optional>
#include <smacc2/smacc.hpp>
 
namespace cl_ros_timer
{
template <typename TSource, typename TOrthogonal>
struct EvTimer : sc::event<EvTimer<TSource, TOrthogonal>>
{
};
 
class ClRosTimer : public smacc2::ISmaccClient
{
public:
  ClRosTimer(rclcpp::Duration duration, bool oneshot = false);
 
  virtual ~ClRosTimer();
 
  virtual void initialize();
 
  template <typename T>
  boost::signals2::connection onTimerTick(void (T::*callback)(), T * object)
  {
    return this->getStateMachine()->createSignalConnection(onTimerTick_, callback, object);
  }
 
  template <typename TOrthogonal, typename TSourceObject>
  void onOrthogonalAllocation()
  {
    this->postTimerEvent_ = [=]() { this->postEvent<EvTimer<TSourceObject, TOrthogonal>>(); };
  }
 
protected:
  rclcpp::TimerBase::SharedPtr timer_;
  rclcpp::Duration duration_;
  bool oneshot_;
 
  void timerCallback();
  std::function<void()> postTimerEvent_;
  smacc2::SmaccSignal<void()> onTimerTick_;
};
}  // namespace cl_ros_timer