rclnodejs/lib/guard_condition.js

ROS2.0 JavaScript client with Node.js

// 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.

'use strict';

const rclnodejs = require('bindings')('rclnodejs');
const Entity = require('./entity.js');
const Context = require('./context.js');

/**
 * @class - Class representing a guard condition in ROS
 * @hideconstructor
 */

class GuardCondition extends Entity {
  constructor(handle, callback) {
    super(handle, null, null);

    this._callback = callback;
  }

  get callback() {
    return this._callback;
  }

  static createGuardCondition(callback, context = Context.defaultContext()) {
    let handle = rclnodejs.createGuardCondition(context.handle);
    return new GuardCondition(handle, callback);
  }

  /**
   * Triggers the guard condition.
   * @returns {undefined}
   */
  trigger() {
    rclnodejs.triggerGuardCondition(this.handle);
  }
}

module.exports = GuardCondition;