ros_heartbeat.hpp

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#ifndef ROS_HEARTBEAT_H
#define ROS_HEARTBEAT_H
 
#include "node_ros_pubsub_wrapper.hpp"
#include "rclcpp/rclcpp.hpp"
#include "galaxis/messages.hpp"
#include "galaxis/ServiceState.hpp"
 
#include <string>
 
constexpr unsigned int _HEARTBEAT_MAXIMUM_PERIOD_TIME = 500;
 
namespace galaxis {
  class ROSHeartbeat {
  private:
    rclcpp::Node* m_nodePtr = nullptr;
    rclcpp::Publisher<HeartbeatMessageType>::SharedPtr m_publisherSPtr;
    std::chrono::milliseconds m_period;
    rclcpp::TimerBase::SharedPtr m_periodicTimer;
    ::galaxis::serviceStates::State m_serviceState = ::galaxis::serviceStates::State::BOOTSTRAP;
    std::string m_nodeName = "UNDEFINED";
 
  public:
    ROSHeartbeat() = delete;
    ROSHeartbeat(rclcpp::Node* p_nodePtr, std::string& p_nodeNameRef, unsigned int p_period);
    ~ROSHeartbeat();
 
    void beat(void);
    void set_service_state(::galaxis::serviceStates::State const p_serviceState);
  };
} // namespace galaxis
 
#endif // !ROS_HEARTBEAT_H