bond_client.hpp

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#pragma once
#include <string>
#include <bondcpp/bond.hpp>
#include <rclcpp/rclcpp.hpp>
 
class BondClient
{
public:
  BondClient(rclcpp::Node::SharedPtr node, const std::string &bond_id)
  {
    bond_id_ = bond_id;
    node_ = node;
 
    //get the bond topic from parameter server
    std::string bond_topic_param = "capability_client.bond_topic";
    std::string bond_topic_value = "/capabilities/bond";
 
    if (!node_->has_parameter(bond_topic_param))
      node_->declare_parameter<std::string>(bond_topic_param, bond_topic_value);
 
    if (!node_->get_parameter(bond_topic_param, topic_) || topic_.empty())
      topic_ = bond_topic_value;
  }
 
  void start()
  {
    RCLCPP_INFO(node_->get_logger(), "Creating bond to capabilities server with id: %s", bond_id_.c_str());
 
    bond_ = std::make_unique<bond::Bond>(topic_, bond_id_, node_, std::bind(&BondClient::on_broken, this), std::bind(&BondClient::on_formed, this));
 
    bond_->setHeartbeatPeriod(0.10);
    bond_->setHeartbeatTimeout(10.0);
    bond_->start();
 
    RCLCPP_INFO(node_->get_logger(), "Bond started with capabilities server with id: %s", bond_id_.c_str());
  }
 
  void stop()
  {
    RCLCPP_INFO(node_->get_logger(), "Destroying bond to capabilities server with id: %s", bond_id_.c_str());
 
    if (bond_)
    {
      bond_.reset();
      RCLCPP_INFO(node_->get_logger(), "Bond stopped with capabilities server with id: %s", bond_id_.c_str());
    }
  }
 
  ~BondClient()
  {
    stop();
  }
 
private:
  void on_formed()
  {
    // log bond established event
    RCLCPP_INFO(node_->get_logger(), "Bond with capabilities server formed with id: %s", bond_id_.c_str());
  }
 
  void on_broken()
  {
    // log bond established event
    RCLCPP_INFO(node_->get_logger(), "Bond with capabilities server broken with id: %s", bond_id_.c_str());
  }
 
  rclcpp::Node::SharedPtr node_;
 
  std::string bond_id_;
 
  std::string topic_;
 
  std::shared_ptr<bond::Bond> bond_;
};