cb_default_multirole_sensor_behavior.h

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#pragma once
 
#include <smacc/smacc_client_behavior.h>
#include <multirole_sensor_client/cl_multirole_sensor.h>
 
namespace cl_multirole_sensor
{
template <typename ClientType>
class CbDefaultMultiRoleSensorBehavior : public smacc::SmaccClientBehavior
{
public:
  typedef typename ClientType::TMessageType TMessageType;
 
  ClientType *sensor_;
 
  CbDefaultMultiRoleSensorBehavior()
  {
    sensor_ = nullptr;
  }
 
  static std::string getEventLabel()
  {
    // show ros message type
    return demangleSymbol(typeid(TMessageType).name());
  }
 
  std::function<void()> deferedEventPropagation;
 
  template <typename TOrthogonal, typename TSourceObject>
  void onOrthogonalAllocation()
  {
    deferedEventPropagation = [=]() {
      // just propagate the client events from this client behavior source.
      sensor_->onMessageReceived(&CbDefaultMultiRoleSensorBehavior<ClientType>::propagateEvent<EvTopicMessage<TSourceObject, TOrthogonal>>, this);
      sensor_->onFirstMessageReceived(&CbDefaultMultiRoleSensorBehavior<ClientType>::propagateEvent<EvTopicInitialMessage<TSourceObject, TOrthogonal>>, this);
      sensor_->onMessageTimeout(&CbDefaultMultiRoleSensorBehavior<ClientType>::propagateEvent2<EvTopicMessageTimeout<TSourceObject, TOrthogonal>>, this);
    };
  }
 
  template <typename EvType>
  void propagateEvent(const TMessageType &msg)
  {
    this->postEvent<EvType>();
  }
 
  template <typename EvType>
  void propagateEvent2(const ros::TimerEvent &tdata)
  {
    this->postEvent<EvType>();
  }
 
  virtual void onEntry() override
  {
    ROS_INFO("[CbDefaultMultiRoleSensorBehavior] onEntry. Requires client of type '%s'", demangleSymbol<ClientType>().c_str());
 
    this->requiresClient(sensor_);
 
    if (sensor_ == nullptr)
    {
      ROS_FATAL_STREAM("Sensor client behavior needs a client of type: " << demangleSymbol<ClientType>() << " but it is not found.");
    }
    else
    {
      deferedEventPropagation();
      ROS_INFO("[CbDefaultMultiRoleSensorBehavior] onEntry. sensor initialize");
      sensor_->initialize();
    }
  }
 
  void onExit()
  {
  }
 
  virtual void onMessageCallback(const TMessageType &msg)
  {
    // empty to fill by sensor customization based on inheritance
  }
};
} // namespace smacc