cl_ros_timer.h

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#pragma once
 
#include <smacc/smacc.h>
#include <boost/signals2.hpp>
#include <boost/optional/optional_io.hpp>
 
namespace cl_ros_timer
{
template <typename TSource, typename TOrthogonal>
struct EvTimer : sc::event<EvTimer<TSource, TOrthogonal>>
{
    /*
    ClRosTimer *sender;
    ros::TimerEvent timedata;
 
    EvTimer(ClRosTimer *sender, const ros::TimerEvent &timedata)
    {
        this->sender = sender;
        this->timedata = timedata;
    }
    */
};
 
class ClRosTimer : public smacc::ISmaccClient
{
public:
    ClRosTimer(ros::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:
    ros::NodeHandle nh_;
 
    ros::Timer timer;
    ros::Duration duration;
    bool oneshot;
 
    void timerCallback(const ros::TimerEvent &timedata);
    std::function<void()> postTimerEvent_;
    smacc::SmaccSignal<void()> onTimerTick_;
};
} // namespace cl_ros_timer