cb_timer_countdown_loop.h

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#pragma once
 
#include <smacc/smacc.h>
#include <ros_timer_client/cl_ros_timer.h>
 
namespace cl_ros_timer
{
 
class CbTimerCountdownLoop : public smacc::SmaccClientBehavior
{
public:
    CbTimerCountdownLoop(uint64_t triggerTickCount);
 
    virtual void onEntry() override;
    virtual void onExit() override;
 
    template <typename TOrthogonal, typename TSourceObject>
    void onOrthogonalAllocation()
    {
        this->postCountDownEvent_ = [=]() {
            this->template postEvent<EvTimer<TSourceObject, TOrthogonal>>();
        };
    }
 
    template <typename T>
    boost::signals2::connection onTimerTick(void (T::*callback)(), T *object)
    {
        return this->getStateMachine()->createSignalConnection(onTimerTick_, callback, object);
    }
 
private:
    uint64_t tickCounter_;
    uint64_t tickTriggerCount_;
 
    ClRosTimer *timerClient_;
    std::function<void()> postCountDownEvent_;
    smacc::SmaccSignal<void()> onTimerTick_;
    void onClientTimerTickCallback();
};
} // namespace cl_ros_timer