SMACC2
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cb_configure.hpp
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1// Copyright 2021 RobosoftAI Inc.
2//
3// Licensed under the Apache License, Version 2.0 (the "License");
4// you may not use this file except in compliance with the License.
5// You may obtain a copy of the License at
6//
7// http://www.apache.org/licenses/LICENSE-2.0
8//
9// Unless required by applicable law or agreed to in writing, software
10// distributed under the License is distributed on an "AS IS" BASIS,
11// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12// See the License for the specific language governing permissions and
13// limitations under the License.
14
15/*****************************************************************************************************************
16 *
17 * Authors: Pablo Inigo Blasco, Brett Aldrich
18 *
19 ******************************************************************************************************************/
20
21#pragma once
22
25
26namespace cl_lifecyclenode
27{
29{
30public:
32 virtual ~CbConfigure() {}
33
34 template <typename TOrthogonal, typename TSourceObject>
36 {
37 smacc2::SmaccAsyncClientBehavior::onOrthogonalAllocation<TOrthogonal, TSourceObject>();
38
40
42 [this]()
43 {
44 RCLCPP_INFO(getLogger(), "CbConfigure: onTransitionOnConfigureSuccess_");
45 this->postSuccessEvent();
46 });
48 { this->postFailureEvent(); });
50 { this->postFailureEvent(); });
51 }
52
53 virtual void onEntry() override { lifecycleNodeClient_->configure(); }
54
55private:
57};
58} // namespace cl_lifecyclenode
virtual void onEntry() override
ClLifecycleNode * lifecycleNodeClient_
boost::signals2::signal< void()> onTransitionOnConfigureFailure_
boost::signals2::signal< void()> onTransitionOnConfigureSuccess_
boost::signals2::signal< void()> onTransitionOnConfigureError_
virtual rclcpp::Logger getLogger() const
void requiresClient(SmaccClientType *&storage)