cb_custom_condition_temperature_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.
 
/*****************************************************************************************************************
 *
 *   Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 ******************************************************************************************************************/
 
#pragma once
#include <multirole_sensor_client/client_behaviors/cb_default_multirole_sensor_behavior.hpp>
#include <sensor_msgs/msg/temperature.hpp>
#include <sm_dance_bot/clients/cl_temperature_sensor/cl_temperature_sensor.hpp>
 
namespace sm_dance_bot
{
namespace cl_temperature_sensor
{
struct EvCustomTemperatureAlert : sc::event<EvCustomTemperatureAlert>
{
};
 
//--------------------------------------------------------------------------------------
class CbConditionTemperatureSensor
: public cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior<ClTemperatureSensor>
{
public:
  CbConditionTemperatureSensor() {}
  void onEntry() override
  {
    RCLCPP_INFO(getLogger(), "[CbConditionTemperatureSensor] onEntry");
    cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior<ClTemperatureSensor>::onEntry();
  }
 
  void onMessageCallback(const sensor_msgs::msg::Temperature & msg) override
  {
    if (msg.temperature > 40)
    {
      auto ev = new EvCustomTemperatureAlert();
      this->postEvent(ev);
    }
  }
};
}  // namespace cl_temperature_sensor
}  // namespace sm_dance_bot