Source: lib/guard_condition.js

  1. // Licensed under the Apache License, Version 2.0 (the "License");
  2. // you may not use this file except in compliance with the License.
  3. // You may obtain a copy of the License at
  4. //
  5. //     http://www.apache.org/licenses/LICENSE-2.0
  6. //
  7. // Unless required by applicable law or agreed to in writing, software
  8. // distributed under the License is distributed on an "AS IS" BASIS,
  9. // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  10. // See the License for the specific language governing permissions and
  11. // limitations under the License.
  13. 'use strict';
  15. const rclnodejs = require('bindings')('rclnodejs');
  16. const Entity = require('./entity.js');
  17. const Context = require('./context.js');
  19. /**
  20.  * @class - Class representing a guard condition in ROS
  21.  * @hideconstructor
  22.  */
  24. class GuardCondition extends Entity {
  25.   constructor(handle, callback) {
  26.     super(handle, null, null);
  28.     this._callback = callback;
  29.   }
  31.   get callback() {
  32.     return this._callback;
  33.   }
  35.   static createGuardCondition(callback, context = Context.defaultContext()) {
  36.     let handle = rclnodejs.createGuardCondition(context.handle);
  37.     return new GuardCondition(handle, callback);
  38.   }
  40.   /**
  41.    * Triggers the guard condition.
  42.    * @returns {undefined}
  43.    */
  44.   trigger() {
  45.     rclnodejs.triggerGuardCondition(this.handle);
  46.   }
  47. }
  49. module.exports = GuardCondition;