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24 lines
666 B
C++
24 lines
666 B
C++
/****************************************************************************
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* Copyright (c) 2024 PX4 Development Team.
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* SPDX-License-Identifier: BSD-3-Clause
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****************************************************************************/
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#pragma once
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#include <rclcpp/rclcpp.hpp>
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#include "pub_sub_graph.h"
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#include "service_graph.h"
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#include <functional>
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class Monitor {
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public:
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explicit Monitor(rclcpp::Node &node, PubSubGraph* pub_sub_graph, ServiceGraph* service_graph);
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void updateNow();
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private:
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rclcpp::Node &_node;
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PubSubGraph* _pub_sub_graph{nullptr};
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ServiceGraph* _service_graph{nullptr};
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rclcpp::TimerBase::SharedPtr _node_update_timer;
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};
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