SMACC2
smacc2_sm_reference_library
sm_pubsub_1
include
sm_pubsub_1
orthogonals
or_timer.hpp
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// Copyright 2021 RobosoftAI Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#pragma once
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#include <ros_timer_client/cl_ros_timer.hpp>
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#include <
smacc2/smacc_orthogonal.hpp
>
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namespace
sm_pubsub_1
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{
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using
std::chrono_literals;
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class
OrTimer
:
public
smacc2::Orthogonal
<OrTimer>
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{
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public
:
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void
onInitialize
()
override
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{
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auto
actionclient = this->createClient<cl_ros_timer::ClRosTimer>(500ms);
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actionclient->initialize();
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}
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};
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}
// namespace sm_pubsub_1
sm_pubsub_1::OrTimer
Definition:
or_timer.hpp:24
sm_pubsub_1::OrTimer::onInitialize
void onInitialize() override
Definition:
or_timer.hpp:26
smacc2::Orthogonal
Definition:
smacc_orthogonal_impl.hpp:164
sm_pubsub_1
Definition:
cl_subscriber.hpp:20
smacc_orthogonal.hpp
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