cl_multirole_sensor::ClMultiroleSensor< MessageType > Class Template Reference

#include <cl_multirole_sensor.hpp>

Inheritance diagram for cl_multirole_sensor::ClMultiroleSensor< MessageType >:

Collaboration diagram for cl_multirole_sensor::ClMultiroleSensor< MessageType >:

Public Types
typedef MessageType	TMessageType
Public Types inherited from smacc2::client_bases::SmaccSubscriberClient< MessageType >
typedef MessageType	TMessageType

Public Member Functions
	ClMultiroleSensor ()
template<typename T >
boost::signals2::connection	onMessageTimeout (void(T::*callback)(), T *object)
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
void	onInitialize () override
Public Member Functions inherited from smacc2::client_bases::SmaccSubscriberClient< MessageType >
	SmaccSubscriberClient ()
	SmaccSubscriberClient (std::string topicname)
virtual	~SmaccSubscriberClient ()
template<typename T >
boost::signals2::connection	onMessageReceived (void(T::*callback)(const MessageType &), T *object)
template<typename T >
boost::signals2::connection	onFirstMessageReceived (void(T::*callback)(const MessageType &), T *object)
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
Public Member Functions inherited from smacc2::ISmaccClient
	ISmaccClient ()
virtual	~ISmaccClient ()
virtual void	onInitialize ()
virtual std::string	getName () const
template<typename TComponent >
TComponent *	getComponent ()
template<typename TComponent >
TComponent *	getComponent (std::string name)
template<typename TComponent >
TComponent *	getComponent (int index)
virtual smacc2::introspection::TypeInfo::Ptr	getType ()
ISmaccStateMachine *	getStateMachine ()
template<typename TSmaccSignal , typename T >
void	connectSignal (TSmaccSignal &signal, void(T::*callback)(), T *object)
template<typename SmaccClientType >
void	requiresClient (SmaccClientType *&storage)
void	getComponents (std::vector< std::shared_ptr< ISmaccComponent > > &components)
template<typename EventType >
void	postEvent (const EventType &ev)
template<typename EventType >
void	postEvent ()

Public Attributes
SmaccSignal< void()>	onMessageTimeout_
std::function< void()>	postTimeoutMessageEvent
std::optional< rclcpp::Duration >	timeout_
Public Attributes inherited from smacc2::client_bases::SmaccSubscriberClient< MessageType >
std::optional< std::string >	topicName
std::optional< int >	queueSize
smacc2::SmaccSignal< void(const MessageType &)>	onFirstMessageReceived_
smacc2::SmaccSignal< void(const MessageType &)>	onMessageReceived_
std::function< void(const MessageType &)>	postMessageEvent
std::function< void(const MessageType &)>	postInitialMessageEvent

Protected Member Functions
void	resetTimer (const MessageType &)
void	onInitialize () override
Protected Member Functions inherited from smacc2::ISmaccClient
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createComponent (TArgs... targs)
template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createNamedComponent (std::string name, TArgs... targs)
rclcpp::Node::SharedPtr	getNode ()
rclcpp::Logger	getLogger ()

Private Member Functions
void	timeoutCallback ()

Private Attributes
rclcpp::TimerBase::SharedPtr	timeoutTimer_
bool	initialized_

Additional Inherited Members
Protected Attributes inherited from smacc2::ISmaccClient
std::map< ComponentKey, std::shared_ptr< smacc2::ISmaccComponent > >	components_

Detailed Description

template<typename MessageType>
class cl_multirole_sensor::ClMultiroleSensor< MessageType >

Definition at line 37 of file cl_multirole_sensor.hpp.

Member Typedef Documentation

TMessageType

template<typename MessageType >

typedef MessageType cl_multirole_sensor::ClMultiroleSensor< MessageType >::TMessageType

Definition at line 40 of file cl_multirole_sensor.hpp.

Constructor & Destructor Documentation

ClMultiroleSensor()

template<typename MessageType >

cl_multirole_sensor::ClMultiroleSensor< MessageType >::ClMultiroleSensor ( )

inline

Definition at line 43 of file cl_multirole_sensor.hpp.

                      : smacc2::client_bases::SmaccSubscriberClient<MessageType>()
  {
    initialized_ = false;
  }

References cl_multirole_sensor::ClMultiroleSensor< MessageType >::initialized_.

Member Function Documentation

onInitialize()

template<typename MessageType >

void cl_multirole_sensor::ClMultiroleSensor< MessageType >::onInitialize ( )

inlineoverridevirtual

Reimplemented from smacc2::client_bases::SmaccSubscriberClient< MessageType >.

Definition at line 71 of file cl_multirole_sensor.hpp.

  {
    if (!initialized_)
    {
      SmaccSubscriberClient<MessageType>::onInitialize();
 
      this->onMessageReceived(&ClMultiroleSensor<MessageType>::resetTimer, this);
 
      if (timeout_)
      {
        auto ros_clock = rclcpp::Clock::make_shared();
        timeoutTimer_ = rclcpp::create_timer(
          this->getNode(), this->getNode()->get_clock(), *timeout_,
          std::bind(&ClMultiroleSensor<MessageType>::timeoutCallback, this));
 
        timeoutTimer_->reset();
      }
      else
      {
        RCLCPP_WARN(
          this->getLogger(),
          "Timeout sensor client not set, skipping timeout watchdog funcionality");
      }
 
      initialized_ = true;
    }
  }

References smacc2::ISmaccClient::getLogger(), smacc2::ISmaccClient::getNode(), cl_multirole_sensor::ClMultiroleSensor< MessageType >::initialized_, smacc2::client_bases::SmaccSubscriberClient< MessageType >::onInitialize(), smacc2::client_bases::SmaccSubscriberClient< MessageType >::onMessageReceived(), cl_multirole_sensor::ClMultiroleSensor< MessageType >::timeout_, and cl_multirole_sensor::ClMultiroleSensor< MessageType >::timeoutTimer_.

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onMessageTimeout()

template<typename MessageType >

template<typename T >

boost::signals2::connection cl_multirole_sensor::ClMultiroleSensor< MessageType >::onMessageTimeout ( void(T::*)()  callback, T *  object  )

inline

Definition at line 49 of file cl_multirole_sensor.hpp.

  {
    return this->getStateMachine()->createSignalConnection(onMessageTimeout_, callback, object);
  }

References smacc2::ISmaccStateMachine::createSignalConnection(), and smacc2::ISmaccClient::getStateMachine().

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onOrthogonalAllocation()

template<typename MessageType >

template<typename TOrthogonal , typename TSourceObject >

void cl_multirole_sensor::ClMultiroleSensor< MessageType >::onOrthogonalAllocation ( )

inline

Definition at line 57 of file cl_multirole_sensor.hpp.

  {
    SmaccSubscriberClient<MessageType>::template onOrthogonalAllocation<
      TOrthogonal, TSourceObject>();
 
    this->postTimeoutMessageEvent = [this]()
    {
      this->onMessageTimeout_();
 
      auto event = new EvTopicMessageTimeout<TSourceObject, TOrthogonal>();
      this->postEvent(event);
    };
  }

References cl_multirole_sensor::ClMultiroleSensor< MessageType >::onMessageTimeout_, cl_multirole_sensor::ClMultiroleSensor< MessageType >::onOrthogonalAllocation(), and smacc2::ISmaccClient::postEvent().

Referenced by cl_multirole_sensor::ClMultiroleSensor< MessageType >::onOrthogonalAllocation().

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resetTimer()

template<typename MessageType >

void cl_multirole_sensor::ClMultiroleSensor< MessageType >::resetTimer ( const MessageType &  )

inlineprotected

Definition at line 102 of file cl_multirole_sensor.hpp.

  {
    //resetting the timer
    timeoutTimer_->reset();
    //timeoutTimer_->stop();
    //timeoutTimer_->start();
  }

References cl_multirole_sensor::ClMultiroleSensor< MessageType >::timeoutTimer_.

timeoutCallback()

template<typename MessageType >

void cl_multirole_sensor::ClMultiroleSensor< MessageType >::timeoutCallback ( )

inlineprivate

Definition at line 114 of file cl_multirole_sensor.hpp.

{ postTimeoutMessageEvent(); }

References cl_multirole_sensor::ClMultiroleSensor< MessageType >::postTimeoutMessageEvent.

Member Data Documentation

initialized_

template<typename MessageType >

bool cl_multirole_sensor::ClMultiroleSensor< MessageType >::initialized_

private

Definition at line 112 of file cl_multirole_sensor.hpp.

Referenced by cl_multirole_sensor::ClMultiroleSensor< MessageType >::ClMultiroleSensor(), and cl_multirole_sensor::ClMultiroleSensor< MessageType >::onInitialize().

onMessageTimeout_

template<typename MessageType >

SmaccSignal<void()> cl_multirole_sensor::ClMultiroleSensor< MessageType >::onMessageTimeout_

Definition at line 41 of file cl_multirole_sensor.hpp.

Referenced by cl_multirole_sensor::ClMultiroleSensor< MessageType >::onOrthogonalAllocation().

postTimeoutMessageEvent

template<typename MessageType >

std::function<void()> cl_multirole_sensor::ClMultiroleSensor< MessageType >::postTimeoutMessageEvent

Definition at line 54 of file cl_multirole_sensor.hpp.

Referenced by cl_multirole_sensor::ClMultiroleSensor< MessageType >::timeoutCallback().

timeout_

template<typename MessageType >

std::optional<rclcpp::Duration> cl_multirole_sensor::ClMultiroleSensor< MessageType >::timeout_

Definition at line 99 of file cl_multirole_sensor.hpp.

Referenced by cl_multirole_sensor::ClMultiroleSensor< MessageType >::onInitialize().

timeoutTimer_

template<typename MessageType >

rclcpp::TimerBase::SharedPtr cl_multirole_sensor::ClMultiroleSensor< MessageType >::timeoutTimer_

private

Definition at line 111 of file cl_multirole_sensor.hpp.

Referenced by cl_multirole_sensor::ClMultiroleSensor< MessageType >::onInitialize(), and cl_multirole_sensor::ClMultiroleSensor< MessageType >::resetTimer().

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The documentation for this class was generated from the following file:

• smacc2_client_library/multirole_sensor_client/include/multirole_sensor_client/cl_multirole_sensor.hpp