smacc2::client_behaviors::CbWaitNode Class Reference

#include <cb_wait_node.hpp>

Inheritance diagram for smacc2::client_behaviors::CbWaitNode:

Collaboration diagram for smacc2::client_behaviors::CbWaitNode:

Public Member Functions
	CbWaitNode (std::string nodeName)
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)

Protected Attributes
std::string	nodeName_
rclcpp::Rate	rate_

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 35 of file cb_wait_node.hpp.

Constructor & Destructor Documentation

CbWaitNode()

smacc2::client_behaviors::CbWaitNode::CbWaitNode

(

std::string

nodeName

)

Definition at line 27 of file cb_wait_node.cpp.

: nodeName_(nodeName), rate_(5) {}

Member Function Documentation

onEntry()

void smacc2::client_behaviors::CbWaitNode::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 29 of file cb_wait_node.cpp.

{
  bool found = false;
  while (!this->isShutdownRequested() && !found)
  {
    std::stringstream ss;
    auto nodenames = getNode()->get_node_names();
    for (auto n : nodenames)
    {
      ss << " - " << n << std::endl;
 
      if (n == nodeName_) found = true;
    }
 
    auto totalstr = ss.str();
    RCLCPP_INFO_STREAM(
      getLogger(), "[" << getName() << "] on entry, listing nodes (" << nodenames.size() << ")"
                       << std::endl
                       << totalstr);
 
    rate_.sleep();
  }
 
  if (found)
  {
    this->postSuccessEvent();
  }
  else
  {
    this->postFailureEvent();
  }
}

References smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), smacc2::ISmaccClientBehavior::getNode(), smacc2::SmaccAsyncClientBehavior::isShutdownRequested(), nodeName_, smacc2::SmaccAsyncClientBehavior::postFailureEvent(), smacc2::SmaccAsyncClientBehavior::postSuccessEvent(), and rate_.

Here is the call graph for this function:

Member Data Documentation

nodeName_

std::string smacc2::client_behaviors::CbWaitNode::nodeName_

protected

Definition at line 43 of file cb_wait_node.hpp.

Referenced by onEntry().

rate_

rclcpp::Rate smacc2::client_behaviors::CbWaitNode::rate_

protected

Definition at line 45 of file cb_wait_node.hpp.

Referenced by onEntry().

---

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

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