smacc2::ISmaccClientBehavior Class Reference

#include <smacc_client_behavior_base.hpp>

Inheritance diagram for smacc2::ISmaccClientBehavior:

Collaboration diagram for smacc2::ISmaccClientBehavior:

Public Member Functions
	ISmaccClientBehavior ()
virtual	~ISmaccClientBehavior ()
ISmaccStateMachine *	getStateMachine ()
std::string	getName () const
template<typename SmaccClientType >
void	requiresClient (SmaccClientType *&storage)
template<typename SmaccComponentType >
void	requiresComponent (SmaccComponentType *&storage)

Protected Member Functions
virtual void	runtimeConfigure ()
virtual void	onEntry ()
virtual void	onExit ()
template<typename EventType >
void	postEvent (const EventType &ev)
template<typename EventType >
void	postEvent ()
ISmaccState *	getCurrentState ()
virtual void	dispose ()
virtual rclcpp::Node::SharedPtr	getNode ()
virtual rclcpp::Logger	getLogger ()

Private Member Functions
virtual void	executeOnEntry ()
virtual void	executeOnExit ()
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()

Private Attributes
ISmaccStateMachine *	stateMachine_
ISmaccState *	currentState
smacc2::ISmaccOrthogonal *	currentOrthogonal

Friends
class	ISmaccState
class	ISmaccOrthogonal
class	ISmaccAsynchronousClientBehavior

Detailed Description

Definition at line 29 of file smacc_client_behavior_base.hpp.

Constructor & Destructor Documentation

ISmaccClientBehavior()

smacc2::ISmaccClientBehavior::ISmaccClientBehavior

(

)

Definition at line 25 of file smacc_client_behavior_base.cpp.

{
  stateMachine_ = nullptr;
  currentState = nullptr;
}

References currentState, and stateMachine_.

~ISmaccClientBehavior()

smacc2::ISmaccClientBehavior::~ISmaccClientBehavior ( )

virtual

Definition at line 31 of file smacc_client_behavior_base.cpp.

{
  RCLCPP_WARN(getLogger(), "Client behavior deallocated.");
}

References getLogger().

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Member Function Documentation

dispose()

void smacc2::ISmaccClientBehavior::dispose ( )

protectedvirtual

Reimplemented in smacc2::SmaccAsyncClientBehavior.

Definition at line 74 of file smacc_client_behavior_base.cpp.

{}

executeOnEntry()

void smacc2::ISmaccClientBehavior::executeOnEntry ( )

privatevirtual

Reimplemented in smacc2::SmaccAsyncClientBehavior.

Definition at line 60 of file smacc_client_behavior_base.cpp.

{
  RCLCPP_DEBUG(
    getLogger(), "[%s] Default empty SmaccClientBehavior onEntry", this->getName().c_str());
  this->onEntry();
}

References getLogger(), getName(), and onEntry().

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executeOnExit()

void smacc2::ISmaccClientBehavior::executeOnExit ( )

privatevirtual

Reimplemented in smacc2::SmaccAsyncClientBehavior.

Definition at line 67 of file smacc_client_behavior_base.cpp.

{
  RCLCPP_DEBUG(
    getLogger(), "[%s] Default empty SmaccClientBehavior onExit", this->getName().c_str());
  this->onExit();
}

References getLogger(), getName(), and onExit().

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getCurrentState()

ISmaccState * smacc2::ISmaccClientBehavior::getCurrentState ( )

inlineprotected

Definition at line 64 of file smacc_client_behavior_impl.hpp.

{ return this->currentState; }

References currentState.

getLogger()

rclcpp::Logger smacc2::ISmaccClientBehavior::getLogger ( )

protectedvirtual

Definition at line 40 of file smacc_client_behavior_base.cpp.

{
  auto nh = this->getNode();
  if (nh != nullptr)
  {
    return nh->get_logger();
  }
  else
  {
    return rclcpp::get_logger("SMACC");
  }
}

References getNode().

Referenced by smacc2::SmaccAsyncClientBehavior::dispose(), executeOnEntry(), smacc2::SmaccAsyncClientBehavior::executeOnEntry(), executeOnExit(), smacc2::SmaccAsyncClientBehavior::executeOnExit(), smacc2::client_behaviors::CbServiceCall< ServiceType >::onEntry(), smacc2::client_behaviors::CbRosLaunch::onEntry(), smacc2::client_behaviors::CbWaitActionServer::onEntry(), smacc2::client_behaviors::CbWaitNode::onEntry(), smacc2::client_behaviors::CbWaitTopicMessage< TMessage >::onEntry(), smacc2::SmaccClientBehavior::onEntry(), cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >::onEntry(), smacc2::SmaccClientBehavior::onExit(), smacc2::client_behaviors::CbWaitTopicMessage< TMessage >::onMessageReceived(), cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >::onOrthogonalAllocation(), postEvent(), cl_keyboard::CbDefaultKeyboardBehavior::postKeyEvent(), requiresComponent(), runtimeConfigure(), smacc2::SmaccAsyncClientBehavior::waitFutureIfNotFinished(), and ~ISmaccClientBehavior().

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getName()

std::string smacc2::ISmaccClientBehavior::getName

(

)

const

Definition at line 36 of file smacc_client_behavior_base.cpp.

{ return demangleSymbol(typeid(*this).name()); }

References smacc2::introspection::demangleSymbol().

Referenced by smacc2::SmaccAsyncClientBehavior::dispose(), executeOnEntry(), smacc2::SmaccAsyncClientBehavior::executeOnEntry(), executeOnExit(), smacc2::SmaccAsyncClientBehavior::executeOnExit(), smacc2::client_behaviors::CbServiceCall< ServiceType >::onEntry(), smacc2::client_behaviors::CbWaitNode::onEntry(), smacc2::SmaccClientBehavior::onEntry(), smacc2::SmaccClientBehavior::onExit(), and runtimeConfigure().

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getNode()

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

protectedvirtual

Definition at line 38 of file smacc_client_behavior_base.cpp.

{ return this->stateMachine_->getNode(); }

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

Referenced by getLogger(), smacc2::client_behaviors::CbServiceCall< ServiceType >::onEntry(), smacc2::client_behaviors::CbWaitNode::onEntry(), smacc2::client_behaviors::CbWaitTopicMessage< TMessage >::onEntry(), and smacc2::SmaccAsyncClientBehavior::waitFutureIfNotFinished().

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getStateMachine()

ISmaccStateMachine * smacc2::ISmaccClientBehavior::getStateMachine ( )

inline

Definition at line 61 of file smacc_client_behavior_impl.hpp.

{ return this->stateMachine_; }

References stateMachine_.

Referenced by smacc2::SmaccAsyncClientBehavior::onFailure(), smacc2::SmaccAsyncClientBehavior::onFinished(), smacc2::SmaccAsyncClientBehavior::onSuccess(), cl_ros_timer::CbTimerCountdownLoop::onTimerTick(), and cl_ros_timer::CbTimerCountdownOnce::onTimerTick().

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onEntry()

virtual void smacc2::ISmaccClientBehavior::onEntry ( )

inlineprotectedvirtual

Reimplemented in cl_keyboard::CbDefaultKeyboardBehavior, smacc2::client_behaviors::CbServiceCall< ServiceType >, smacc2::client_behaviors::CbRosLaunch, smacc2::client_behaviors::CbSubscriptionCallbackBase< TMsg >, smacc2::client_behaviors::CbWaitActionServer, smacc2::client_behaviors::CbWaitNode, smacc2::client_behaviors::CbWaitTopicMessage< TMessage >, smacc2::SmaccClientBehavior, cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >, cl_ros_publisher::CbDefaultPublishLoop, cl_ros_publisher::CbMutedBehavior< RosMsgType >, cl_ros_publisher::CbPublishOnce< RosMsgType >, cl_ros_timer::CbTimer, cl_ros_timer::CbTimer, cl_ros_timer::CbTimerCountdownLoop, cl_ros_timer::CbTimerCountdownLoop, cl_ros_timer::CbTimerCountdownOnce, cl_ros_timer::CbTimerCountdownOnce, cl_ros_timer::CbTimer, cl_ros_timer::CbTimerCountdownLoop, and cl_ros_timer::CbTimerCountdownOnce.

Definition at line 49 of file smacc_client_behavior_base.hpp.

{}

Referenced by executeOnEntry(), and smacc2::SmaccAsyncClientBehavior::executeOnEntry().

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onExit()

virtual void smacc2::ISmaccClientBehavior::onExit ( )

inlineprotectedvirtual

Reimplemented in cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >, smacc2::SmaccClientBehavior, cl_ros_publisher::CbDefaultPublishLoop, cl_ros_publisher::CbMutedBehavior< RosMsgType >, cl_ros_publisher::CbPublishOnce< RosMsgType >, cl_ros_timer::CbTimer, cl_ros_timer::CbTimerCountdownLoop, and cl_ros_timer::CbTimerCountdownOnce.

Definition at line 51 of file smacc_client_behavior_base.hpp.

{}

Referenced by executeOnExit(), and smacc2::SmaccAsyncClientBehavior::executeOnExit().

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onOrthogonalAllocation()

template<typename TOrthogonal , typename TSourceObject >

void smacc2::ISmaccClientBehavior::onOrthogonalAllocation

private

Definition at line 89 of file smacc_client_behavior_impl.hpp.

{
}

postEvent() [1/2]

template<typename EventType >

void smacc2::ISmaccClientBehavior::postEvent

protected

Definition at line 45 of file smacc_client_behavior_impl.hpp.

{
  if (stateMachine_ == nullptr)
  {
    RCLCPP_ERROR(
      getLogger(),
      "The client behavior cannot post events before being assigned to an orthogonal. Ignoring "
      "post event call.");
  }
  else
  {
    stateMachine_->template postEvent<EventType>(EventLifeTime::CURRENT_STATE);
  }
}

References smacc2::CURRENT_STATE, getLogger(), and stateMachine_.

Referenced by cl_keyboard::CbDefaultKeyboardBehavior::postKeyEvent().

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postEvent() [2/2]

template<typename EventType >

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

protected

Definition at line 29 of file smacc_client_behavior_impl.hpp.

{
  if (stateMachine_ == nullptr)
  {
    RCLCPP_ERROR(
      getLogger(),
      "The client behavior cannot post events before being assigned to an orthogonal. Ignoring "
      "post event call.");
  }
  else
  {
    stateMachine_->postEvent(ev, EventLifeTime::CURRENT_STATE);
  }
}

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

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requiresClient()

template<typename SmaccClientType >

void smacc2::ISmaccClientBehavior::requiresClient

(

SmaccClientType *&

storage

)

Definition at line 67 of file smacc_client_behavior_impl.hpp.

{
  currentOrthogonal->requiresClient(storage);
}

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

Referenced by cl_keyboard::CbDefaultKeyboardBehavior::onEntry(), smacc2::client_behaviors::CbRosLaunch::onEntry(), smacc2::client_behaviors::CbSubscriptionCallbackBase< TMsg >::onEntry(), cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >::onEntry(), cl_ros_publisher::CbDefaultPublishLoop::onEntry(), cl_ros_publisher::CbPublishOnce< RosMsgType >::onEntry(), cl_ros_timer::CbTimer::onEntry(), cl_ros_timer::CbTimerCountdownLoop::onEntry(), cl_ros_timer::CbTimerCountdownOnce::onEntry(), and smacc2::client_behaviors::CbWaitActionServer::onOrthogonalAllocation().

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requiresComponent()

template<typename SmaccComponentType >

void smacc2::ISmaccClientBehavior::requiresComponent

(

SmaccComponentType *&

storage

)

Definition at line 73 of file smacc_client_behavior_impl.hpp.

{
  if (stateMachine_ == nullptr)
  {
    RCLCPP_ERROR(
      getLogger(),
      "Cannot use the requiresComponent funcionality before assigning the client behavior to an "
      "orthogonal. Try using the OnEntry method to capture required components.");
  }
  else
  {
    stateMachine_->requiresComponent(storage);
  }
}

References getLogger(), smacc2::ISmaccStateMachine::requiresComponent(), and stateMachine_.

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runtimeConfigure()

void smacc2::ISmaccClientBehavior::runtimeConfigure ( )

protectedvirtual

Definition at line 53 of file smacc_client_behavior_base.cpp.

{
  RCLCPP_DEBUG(
    getLogger(), "[%s] Default empty SmaccClientBehavior runtimeConfigure",
    this->getName().c_str());
}

References getLogger(), and getName().

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Friends And Related Function Documentation

ISmaccAsynchronousClientBehavior

friend class ISmaccAsynchronousClientBehavior

friend

Definition at line 86 of file smacc_client_behavior_base.hpp.

ISmaccOrthogonal

friend class ISmaccOrthogonal

friend

Definition at line 85 of file smacc_client_behavior_base.hpp.

ISmaccState

friend class ISmaccState

friend

Definition at line 84 of file smacc_client_behavior_base.hpp.

Member Data Documentation

currentOrthogonal

smacc2::ISmaccOrthogonal* smacc2::ISmaccClientBehavior::currentOrthogonal

private

Definition at line 82 of file smacc_client_behavior_base.hpp.

Referenced by requiresClient().

currentState

ISmaccState* smacc2::ISmaccClientBehavior::currentState

private

Definition at line 81 of file smacc_client_behavior_base.hpp.

Referenced by getCurrentState(), and ISmaccClientBehavior().

stateMachine_

ISmaccStateMachine* smacc2::ISmaccClientBehavior::stateMachine_

private

Definition at line 78 of file smacc_client_behavior_base.hpp.

Referenced by getNode(), getStateMachine(), ISmaccClientBehavior(), postEvent(), and requiresComponent().

---

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

• smacc2/include/smacc2/smacc_client_behavior_base.hpp
• smacc2/include/smacc2/impl/smacc_client_behavior_impl.hpp
• smacc2/src/smacc2/smacc_client_behavior_base.cpp