ros_node_context.hpp

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// Copyright 2024 Robin Müller
//
// 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
//
//      https://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.
 
#pragma once
 
#include <chrono>
#include <string>
 
#include "rclcpp/node.hpp"
#include "behaviortree_cpp/tree_node.h"
#include "auto_apms_behavior_tree/node/node_registration_params.hpp"
 
namespace auto_apms_behavior_tree
{
 
struct RosNodeContext
{
  RosNodeContext(rclcpp::Node::SharedPtr node_ptr, const NodeRegistrationParams& tree_node_params);
 
  std::weak_ptr<rclcpp::Node> nh;
  std::string default_port_name;
  std::chrono::duration<double> wait_for_server_timeout;
  std::chrono::duration<double> request_timeout;
 
  rclcpp::Logger getLogger() const;
 
  rclcpp::Time getCurrentTime() const;
};
 
}  // namespace auto_apms_behavior_tree