smacc2::client_behaviors::CbWaitActionServer Class Reference

#include <cb_wait_action_server.hpp>

Inheritance diagram for smacc2::client_behaviors::CbWaitActionServer:

Collaboration diagram for smacc2::client_behaviors::CbWaitActionServer:

Public Member Functions
	CbWaitActionServer (std::chrono::milliseconds timeout)
virtual	~CbWaitActionServer ()
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
void	onEntry () override
Public Member Functions inherited from smacc2::SmaccAsyncClientBehavior
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
virtual	~SmaccAsyncClientBehavior ()
template<typename TCallback , typename T >
boost::signals2::connection	onSuccess (TCallback callback, T *object)
template<typename TCallback , typename T >
boost::signals2::connection	onFinished (TCallback callback, T *object)
template<typename TCallback , typename T >
boost::signals2::connection	onFailure (TCallback callback, T *object)
Public Member Functions inherited from smacc2::ISmaccClientBehavior
	ISmaccClientBehavior ()
virtual	~ISmaccClientBehavior ()
ISmaccStateMachine *	getStateMachine ()
std::string	getName () const
template<typename SmaccClientType >
void	requiresClient (SmaccClientType *&storage)
template<typename SmaccComponentType >
void	requiresComponent (SmaccComponentType *&storage)

Private Attributes
ISmaccActionClient *	client_
std::chrono::milliseconds	timeout_

Additional Inherited Members
Protected Member Functions inherited from smacc2::SmaccAsyncClientBehavior
void	postSuccessEvent ()
void	postFailureEvent ()
virtual void	dispose () override
bool	isShutdownRequested ()
Protected Member Functions inherited from smacc2::ISmaccClientBehavior
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 ()

Detailed Description

Definition at line 33 of file cb_wait_action_server.hpp.

Constructor & Destructor Documentation

CbWaitActionServer()

smacc2::client_behaviors::CbWaitActionServer::CbWaitActionServer

(

std::chrono::milliseconds

timeout

)

Definition at line 27 of file cb_wait_action_server.cpp.

: timeout_(timeout) {}

~CbWaitActionServer()

smacc2::client_behaviors::CbWaitActionServer::~CbWaitActionServer ( )

virtual

Definition at line 29 of file cb_wait_action_server.cpp.

{}

Member Function Documentation

onEntry()

void smacc2::client_behaviors::CbWaitActionServer::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 31 of file cb_wait_action_server.cpp.

{
  if (client_ != nullptr)
  {
    std::shared_ptr<rclcpp_action::ClientBase> client_base = client_->getClientBase();
    RCLCPP_INFO(getLogger(), "[CbWaitActionServer] waiting action server..");
    bool found = client_base->wait_for_action_server(timeout_);
 
    if (found)
    {
      RCLCPP_INFO(getLogger(), "[CbWaitActionServer] action server already available");
      this->postSuccessEvent();
    }
    else
    {
      RCLCPP_INFO(getLogger(), "[CbWaitActionServer] action server not found, timeout");
      this->postFailureEvent();
    }
  }
  else
  {
    RCLCPP_INFO(getLogger(), "[CbWaitActionServer] there is no action client in this orthogonal");
    this->postFailureEvent();
  }
}

References client_, smacc2::client_bases::ISmaccActionClient::getClientBase(), smacc2::ISmaccClientBehavior::getLogger(), smacc2::SmaccAsyncClientBehavior::postFailureEvent(), smacc2::SmaccAsyncClientBehavior::postSuccessEvent(), and timeout_.

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onOrthogonalAllocation()

template<typename TOrthogonal , typename TSourceObject >

void smacc2::client_behaviors::CbWaitActionServer::onOrthogonalAllocation ( )

inline

Definition at line 40 of file cb_wait_action_server.hpp.

  {
    SmaccAsyncClientBehavior::onOrthogonalAllocation<TOrthogonal, TSourceObject>();
    this->requiresClient(client_);
  }

References client_, and smacc2::ISmaccClientBehavior::requiresClient().

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Member Data Documentation

client_

ISmaccActionClient* smacc2::client_behaviors::CbWaitActionServer::client_

private

Definition at line 49 of file cb_wait_action_server.hpp.

Referenced by onEntry(), and onOrthogonalAllocation().

timeout_

std::chrono::milliseconds smacc2::client_behaviors::CbWaitActionServer::timeout_

private

Definition at line 50 of file cb_wait_action_server.hpp.

Referenced by onEntry().

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

• smacc2/include/smacc2/client_behaviors/cb_wait_action_server.hpp
• smacc2/src/smacc2/client_behaviors/cb_wait_action_server.cpp