This repository has been archived by the owner on Jun 10, 2021. It is now read-only.
-
Notifications
You must be signed in to change notification settings - Fork 8
/
periodic_measurement_node.cpp
66 lines (55 loc) · 1.88 KB
/
periodic_measurement_node.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
// Copyright 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
//
// 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.
#include "periodic_measurement_node.hpp"
#include <chrono>
#include <string>
#include "rclcpp/rclcpp.hpp"
PeriodicMeasurementNode::PeriodicMeasurementNode(
const std::string & name,
const std::chrono::milliseconds measurement_period,
const std::string & publishing_topic)
: Node(name),
measurement_period_(measurement_period),
publishing_topic_(publishing_topic),
measurement_timer_(nullptr)
{}
bool PeriodicMeasurementNode::setupStart()
{
if (!measurement_timer_) {
RCLCPP_DEBUG(this->get_logger(), "creating timer");
measurement_timer_ = this->create_wall_timer(
measurement_period_,
std::bind(&PeriodicMeasurementNode::periodicMeasurement, this));
} else {
RCLCPP_WARN(this->get_logger(), "setupStart: measurement_timer_ already exists!");
}
return true;
}
bool PeriodicMeasurementNode::setupStop()
{
if (measurement_timer_) {
measurement_timer_->cancel();
measurement_timer_.reset();
}
return true;
}
std::string PeriodicMeasurementNode::getStatusString() const
{
std::stringstream ss;
ss << "name=" << get_name() <<
", measurement_period=" << std::to_string(measurement_period_.count()) << "ms" <<
", publishing_topic=" << publishing_topic_ <<
", " << Collector::getStatusString();
return ss.str();
}