#include <cb_resume_slam.hpp>

Inheritance diagram for cl_nav2z::CbResumeSlam:

Collaboration diagram for cl_nav2z::CbResumeSlam:

Public Member Functions
	CbResumeSlam (std::string serviceName="/slam_toolbox/pause_new_measurements")

void	onEntry () override

Public Member Functions inherited from smacc2::client_behaviors::CbServiceCall< slam_toolbox::srv::Pause >
	CbServiceCall (const char *serviceName)

	CbServiceCall (const char *serviceName, std::shared_ptr< typename ServiceType::Request > request, std::chrono::milliseconds pollRate=100ms)

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)

void	requestForceFinish ()

void	executeOnEntry () override

void	executeOnExit () override

void	waitOnEntryThread (bool requestFinish)

template<typename TCallbackMethod , typename T >
boost::signals2::connection	onSuccess (TCallbackMethod callback, T *object)

template<typename TCallbackMethod , typename T >
boost::signals2::connection	onFinished (TCallbackMethod callback, T *object)

template<typename TCallbackMethod , typename T >
boost::signals2::connection	onFailure (TCallbackMethod 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, bool throwExceptionIfNotExist=false)

virtual void	onEntry ()

virtual void	onExit ()

virtual void	executeOnEntry ()

virtual void	executeOnExit ()

Protected Attributes
CpSlamToolbox *	slam_

Protected Attributes inherited from smacc2::client_behaviors::CbServiceCall< slam_toolbox::srv::Pause >
std::shared_ptr< rclcpp::Client< slam_toolbox::srv::Pause > >	client_

std::string	serviceName_

std::shared_ptr< typename ServiceType::Request >	request_

Additional Inherited Members
Public Attributes inherited from smacc2::client_behaviors::CbServiceCall< slam_toolbox::srv::Pause >
rclcpp::Client< slam_toolbox::srv::Pause >::SharedFuture	resultFuture_

std::shared_ptr< typename ServiceType::Response >	result_

std::chrono::milliseconds	pollRate_

Protected Member Functions inherited from smacc2::client_behaviors::CbServiceCall< slam_toolbox::srv::Pause >
virtual void	onServiceResponse (std::shared_ptr< typename ServiceType::Response >)

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 ()

template<typename EventType >
void	postEvent (const EventType &ev)

template<typename EventType >
void	postEvent ()

ISmaccState *	getCurrentState ()

virtual void	dispose ()

virtual rclcpp::Node::SharedPtr	getNode () const

virtual rclcpp::Logger	getLogger () const

Detailed Description

Definition at line 28 of file cb_resume_slam.hpp.

Constructor & Destructor Documentation

◆ CbResumeSlam()

cl_nav2z::CbResumeSlam::CbResumeSlam ( std::string serviceName = "/slam_toolbox/pause_new_measurements" )

Definition at line 24 of file cb_resume_slam.cpp.

: smacc2::client_behaviors::CbServiceCall<slam_toolbox::srv::Pause>(serviceName.c_str())
{
}

Member Function Documentation

◆ onEntry()

void cl_nav2z::CbResumeSlam::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 29 of file cb_resume_slam.cpp.

{
  this->requiresComponent(this->slam_);
 
  auto currentState = slam_->getState();
 
  if (currentState == CpSlamToolbox::SlamToolboxState::Paused)
  {
    RCLCPP_INFO(
      getLogger(), "[CbResumeSlam] calling pause service to toggle from paused to resumed");
    this->request_ = std::make_shared<slam_toolbox::srv::Pause::Request>();
    smacc2::client_behaviors::CbServiceCall<slam_toolbox::srv::Pause>::onEntry();
    this->slam_->toogleState();
  }
  else
  {
    this->request_ = nullptr;
    RCLCPP_INFO(
      getLogger(), "[CbResumeSlam] calling skipped. The current slam state is already resumed.");
  }
}

References smacc2::ISmaccClientBehavior::currentState, smacc2::ISmaccClientBehavior::getLogger(), cl_nav2z::CpSlamToolbox::getState(), smacc2::client_behaviors::CbServiceCall< ServiceType >::onEntry(), cl_nav2z::CpSlamToolbox::Paused, smacc2::client_behaviors::CbServiceCall< slam_toolbox::srv::Pause >::request_, smacc2::ISmaccClientBehavior::requiresComponent(), slam_, and cl_nav2z::CpSlamToolbox::toogleState().

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Member Data Documentation

◆ slam_

CpSlamToolbox* cl_nav2z::CbResumeSlam::slam_

protected

Definition at line 35 of file cb_resume_slam.hpp.

Referenced by onEntry().

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

smacc2_client_library/nav2z_client/nav2z_client/include/nav2z_client/client_behaviors/cb_resume_slam.hpp
smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/client_behaviors/cb_resume_slam.cpp

Public Member Functions

Protected Attributes