#include <smacc_client.hpp>

Inheritance diagram for smacc2::ISmaccClient:

Collaboration diagram for smacc2::ISmaccClient:

Public Member Functions
	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 ()

Protected Member Functions
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 ()

Protected Attributes
std::map< ComponentKey, std::shared_ptr< smacc2::ISmaccComponent > >	components_

Private Member Functions
void	initialize ()

void	setStateMachine (ISmaccStateMachine *stateMachine)

void	setOrthogonal (ISmaccOrthogonal *orthogonal)

Private Attributes
ISmaccStateMachine *	stateMachine_

ISmaccOrthogonal *	orthogonal_

Friends
class	ISmaccOrthogonal

class	ISmaccComponent

Detailed Description

Definition at line 44 of file smacc_client.hpp.

Constructor & Destructor Documentation

◆ ISmaccClient()

smacc2::ISmaccClient::ISmaccClient ( )

Definition at line 26 of file client.cpp.

26{}

◆ ~ISmaccClient()

smacc2::ISmaccClient::~ISmaccClient ( )

virtual

Definition at line 28 of file client.cpp.

28{}

Member Function Documentation

◆ connectSignal()

template<typename TSmaccSignal , typename T >

void smacc2::ISmaccClient::connectSignal	(	TSmaccSignal &	signal,
		void(T::*)()	callback,
		T *	object
	)

Definition at line 138 of file smacc_client_impl.hpp.

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

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

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◆ createComponent()

template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>

SmaccComponentType * smacc2::ISmaccClient::createComponent ( TArgs... targs )

protected

Definition at line 131 of file smacc_client_impl.hpp.

{
  return this->createNamedComponent<SmaccComponentType, TOrthogonal, TClient>(
    std::string(), targs...);
}

Referenced by smacc2::ClientHandler< TOrthogonal, TClient >::createComponent(), and smacc2::ISmaccComponent::createSiblingComponent().

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◆ createNamedComponent()

template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>

SmaccComponentType * smacc2::ISmaccClient::createNamedComponent	(	std::string	name,
		TArgs...	targs
	)

protected

Definition at line 91 of file smacc_client_impl.hpp.

{
  ComponentKey componentkey(&typeid(SmaccComponentType), name);
 
  std::shared_ptr<SmaccComponentType> ret;
 
  auto it = this->components_.find(componentkey);
 
  if (it == this->components_.end())
  {
    auto tname = demangledTypeName<SmaccComponentType>();
    RCLCPP_INFO(
      getLogger(),
      "Creating a new component of type %s smacc component is required by client '%s'. Creating a "
      "new instance %s",
      this->getName().c_str(), demangledTypeName<SmaccComponentType>().c_str(), tname.c_str());
 
    ret = std::shared_ptr<SmaccComponentType>(new SmaccComponentType(targs...));
    ret->setStateMachine(this->getStateMachine());
    ret->owner_ = this;
    ret->initialize(this);
 
    this->components_[componentkey] =
      ret;  //std::dynamic_pointer_cast<smacc2::ISmaccComponent>(ret);
    RCLCPP_DEBUG(getLogger(), "%s resource is required. Done.", tname.c_str());
  }
  else
  {
    RCLCPP_INFO(
      getLogger(), "%s resource is required. Found resource in cache.",
      demangledTypeName<SmaccComponentType>().c_str());
    ret = dynamic_pointer_cast<SmaccComponentType>(it->second);
  }
 
  ret->template onOrthogonalAllocation<TOrthogonal, TClient>();
 
  return ret.get();
}

References components_, getLogger(), getName(), and getStateMachine().

Referenced by smacc2::ClientHandler< TOrthogonal, TClient >::createNamedComponent(), and smacc2::ISmaccComponent::createSiblingNamedComponent().

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◆ getComponent() [1/3]

template<typename TComponent >

TComponent * smacc2::ISmaccClient::getComponent

Definition at line 41 of file smacc_client_impl.hpp.

{
  return this->getComponent<TComponent>(std::string());
}

Referenced by smacc2::ISmaccComponent::requiresComponent().

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◆ getComponent() [2/3]

template<typename TComponent >

TComponent * smacc2::ISmaccClient::getComponent ( int index )

Definition at line 47 of file smacc_client_impl.hpp.

{
  int count = 0;
  for (auto & component : components_)
  {
    auto * tcomponent = dynamic_cast<TComponent *>(component.second.get());
    if (tcomponent != nullptr)
    {
      if (count == index)
      {
        return tcomponent;
      }
      else
      {
        count++;
        continue;
      }
    }
  }
 
  return nullptr;
}

References components_.

◆ getComponent() [3/3]

template<typename TComponent >

TComponent * smacc2::ISmaccClient::getComponent ( std::string name )

Definition at line 71 of file smacc_client_impl.hpp.

{
  for (auto & component : components_)
  {
    if (component.first.name != name) continue;
 
    auto * tcomponent = dynamic_cast<TComponent *>(component.second.get());
    if (tcomponent != nullptr)
    {
      return tcomponent;
    }
  }
 
  return nullptr;
}

References components_.

◆ getComponents()

void smacc2::ISmaccClient::getComponents ( std::vector< std::shared_ptr< ISmaccComponent > > & components )

Definition at line 34 of file client.cpp.

{
  for (auto & ce : components_)
  {
    components.push_back(ce.second);
  }
}

References components_.

◆ getLogger()

rclcpp::Logger smacc2::ISmaccClient::getLogger ( )

inlineprotected

Definition at line 103 of file smacc_client.hpp.

103{ return getNode()->get_logger(); }

smacc2::ISmaccClient::getNode

rclcpp::Node::SharedPtr getNode()

Definition: client.cpp:60

References getNode().

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◆ getName()

std::string smacc2::ISmaccClient::getName ( ) const

virtual

Reimplemented in smacc2::client_bases::ISmaccActionClient.

Definition at line 42 of file client.cpp.

{
  std::string keyname = demangleSymbol(typeid(*this).name());
  return keyname;
}

References smacc2::introspection::demangleSymbol().

Referenced by smacc2::client_bases::SmaccPublisherClient::configure(), createNamedComponent(), smacc2::client_bases::SmaccServiceClient< ServiceType >::onInitialize(), and smacc2::client_bases::SmaccSubscriberClient< MessageType >::onInitialize().

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◆ getNode()

rclcpp::Node::SharedPtr smacc2::ISmaccClient::getNode ( )

protected

Definition at line 60 of file client.cpp.

60{ return this->getStateMachine()->getNode(); }

smacc2::ISmaccStateMachine::getNode

rclcpp::Node::SharedPtr getNode()

Definition: smacc_state_machine.cpp:96

References smacc2::ISmaccStateMachine::getNode(), and getStateMachine().

Referenced by smacc2::client_bases::SmaccActionClientBase< ActionType >::cancelGoal(), smacc2::client_bases::SmaccPublisherClient::configure(), getLogger(), smacc2::ISmaccComponent::getNode(), smacc2::client_bases::SmaccActionClientBase< ActionType >::onInitialize(), smacc2::client_bases::SmaccServiceClient< ServiceType >::onInitialize(), smacc2::client_bases::SmaccSubscriberClient< MessageType >::onInitialize(), cl_multirole_sensor::ClMultiroleSensor< MessageType >::onInitialize(), and cl_ros_timer::ClRosTimer::onInitialize().

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◆ getStateMachine()

ISmaccStateMachine * smacc2::ISmaccClient::getStateMachine ( )

inline

Definition at line 88 of file smacc_client_impl.hpp.

88{ return this->stateMachine_; }

smacc2::ISmaccClient::stateMachine_

ISmaccStateMachine * stateMachine_

Definition: smacc_client.hpp:107

References stateMachine_.

Referenced by connectSignal(), createNamedComponent(), getNode(), smacc2::client_bases::SmaccActionClientBase< ActionType >::onAborted(), smacc2::client_bases::SmaccActionClientBase< ActionType >::onCancelled(), smacc2::client_bases::SmaccSubscriberClient< MessageType >::onFirstMessageReceived(), cl_keyboard::ClKeyboard::OnKeyPress(), smacc2::client_bases::SmaccSubscriberClient< MessageType >::onMessageReceived(), cl_multirole_sensor::ClMultiroleSensor< MessageType >::onMessageTimeout(), smacc2::client_bases::SmaccActionClientBase< ActionType >::onSucceeded(), and cl_ros_timer::ClRosTimer::onTimerTick().

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◆ getType()

smacc2::introspection::TypeInfo::Ptr smacc2::ISmaccClient::getType ( )

virtual

Definition at line 55 of file client.cpp.

{
  return smacc2::introspection::TypeInfo::getFromStdTypeInfo(typeid(*this));
}

References smacc2::introspection::TypeInfo::getFromStdTypeInfo().

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◆ initialize()

void smacc2::ISmaccClient::initialize ( )

private

Definition at line 30 of file client.cpp.

30{ this->onInitialize(); }

smacc2::ISmaccClient::onInitialize

virtual void onInitialize()

Definition: client.cpp:32

References onInitialize().

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◆ onInitialize()

void smacc2::ISmaccClient::onInitialize ( )

virtual

Reimplemented in smacc2::client_bases::SmaccActionClientBase< ActionType >, smacc2::client_bases::SmaccServiceClient< ServiceType >, smacc2::client_bases::SmaccSubscriberClient< MessageType >, smacc2::client_bases::SmaccSubscriberClient< std_msgs::msg::UInt16 >, smacc2::client_bases::SmaccSubscriberClient< TMsg >, cl_keyboard::ClKeyboard, cl_multirole_sensor::ClMultiroleSensor< MessageType >, and cl_ros_timer::ClRosTimer.

Definition at line 32 of file client.cpp.

32{}

Referenced by initialize().

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◆ onOrthogonalAllocation()

template<typename TOrthogonal , typename TSourceObject >

void smacc2::ISmaccClient::onOrthogonalAllocation ( )

inlineprotected

Definition at line 88 of file smacc_client.hpp.

89 {

90 }

◆ postEvent() [1/2]

template<typename EventType >

void smacc2::ISmaccClient::postEvent

Definition at line 35 of file smacc_client_impl.hpp.

{
  stateMachine_->postEvent<EventType>();
}

References smacc2::ISmaccStateMachine::postEvent(), and stateMachine_.

Referenced by smacc2::client_bases::SmaccActionClientBase< ActionType >::onOrthogonalAllocation(), smacc2::client_bases::SmaccSubscriberClient< MessageType >::onOrthogonalAllocation(), cl_multirole_sensor::ClMultiroleSensor< MessageType >::onOrthogonalAllocation(), and smacc2::client_bases::SmaccActionClientBase< ActionType >::postResultEvent().

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◆ postEvent() [2/2]

template<typename EventType >

void smacc2::ISmaccClient::postEvent ( const EventType & ev )

Definition at line 29 of file smacc_client_impl.hpp.

{
  stateMachine_->postEvent(ev);
}

References smacc2::ISmaccStateMachine::postEvent(), and stateMachine_.

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◆ requiresClient()

template<typename SmaccClientType >

void smacc2::ISmaccClient::requiresClient ( SmaccClientType *& storage )

Definition at line 144 of file smacc_client_impl.hpp.

{
  this->orthogonal_->requiresClient(storage);
}

References orthogonal_, and smacc2::ISmaccOrthogonal::requiresClient().

Referenced by smacc2::ISmaccComponent::requiresClient().

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◆ setOrthogonal()

void smacc2::ISmaccClient::setOrthogonal ( ISmaccOrthogonal * orthogonal )

private

Definition at line 53 of file client.cpp.

53{ orthogonal_ = orthogonal; }

References orthogonal_.

◆ setStateMachine()

void smacc2::ISmaccClient::setStateMachine ( ISmaccStateMachine * stateMachine )

private

Definition at line 48 of file client.cpp.

{
  stateMachine_ = stateMachine;
}

References stateMachine_.

Friends And Related Function Documentation

◆ ISmaccComponent

friend class ISmaccComponent

friend

Definition at line 121 of file smacc_client.hpp.

◆ ISmaccOrthogonal

friend class ISmaccOrthogonal

friend

Definition at line 120 of file smacc_client.hpp.

Member Data Documentation

◆ components_

std::map<ComponentKey, std::shared_ptr<smacc2::ISmaccComponent> > smacc2::ISmaccClient::components_

protected

Definition at line 93 of file smacc_client.hpp.

Referenced by createNamedComponent(), getComponent(), and getComponents().

◆ orthogonal_

ISmaccOrthogonal* smacc2::ISmaccClient::orthogonal_

private

Definition at line 108 of file smacc_client.hpp.

Referenced by requiresClient(), and setOrthogonal().

◆ stateMachine_

ISmaccStateMachine* smacc2::ISmaccClient::stateMachine_

private

Definition at line 107 of file smacc_client.hpp.

Referenced by getStateMachine(), postEvent(), and setStateMachine().

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

smacc2/include/smacc2/smacc_client.hpp
smacc2/include/smacc2/impl/smacc_client_impl.hpp
smacc2/src/smacc2/client.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ ISmaccClient()

◆ ~ISmaccClient()

Member Function Documentation

◆ connectSignal()

◆ createComponent()

◆ createNamedComponent()

◆ getComponent() [1/3]

◆ getComponent() [2/3]

◆ getComponent() [3/3]

◆ getComponents()

◆ getLogger()

◆ getName()

◆ getNode()

◆ getStateMachine()

◆ getType()

◆ initialize()

◆ onInitialize()

◆ onOrthogonalAllocation()

◆ postEvent() [1/2]

◆ postEvent() [2/2]

◆ requiresClient()

◆ setOrthogonal()

◆ setStateMachine()

Friends And Related Function Documentation

◆ ISmaccComponent

◆ ISmaccOrthogonal

Member Data Documentation

◆ components_

◆ orthogonal_

◆ stateMachine_