cl_nav2z::CbWaitNav2Nodes Class Reference

#include <cb_wait_nav2_nodes.hpp>

Inheritance diagram for cl_nav2z::CbWaitNav2Nodes:

Collaboration diagram for cl_nav2z::CbWaitNav2Nodes:

Public Member Functions
	CbWaitNav2Nodes (std::string topicname, std::vector< Nav2Nodes > waitNodes={ Nav2Nodes::PlannerServer, Nav2Nodes::ControllerServer, Nav2Nodes::BtNavigator})
	CbWaitNav2Nodes (std::vector< Nav2Nodes > waitNodes={ Nav2Nodes::PlannerServer, Nav2Nodes::ControllerServer, Nav2Nodes::BtNavigator})
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 ()

Private Member Functions
void	onMessageReceived (const bond::msg::Status &msg)

Private Attributes
std::string	topicname_
rclcpp::Subscription< bond::msg::Status >::SharedPtr	sub_
std::map< Nav2Nodes, bool >	receivedAliveMsg_
std::vector< Nav2Nodes >	waitNodes_

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 ()
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 43 of file cb_wait_nav2_nodes.hpp.

Constructor & Destructor Documentation

CbWaitNav2Nodes() [1/2]

cl_nav2z::CbWaitNav2Nodes::CbWaitNav2Nodes	(	std::string	topicname,
		std::vector< Nav2Nodes >	waitNodes = { Nav2Nodes::PlannerServer, Nav2Nodes::ControllerServer, Nav2Nodes::BtNavigator}
	)

Definition at line 31 of file cb_wait_nav2_nodes.cpp.

: topicname_(topic), waitNodes_(waitNodes)
{
}

CbWaitNav2Nodes() [2/2]

cl_nav2z::CbWaitNav2Nodes::CbWaitNav2Nodes

(

std::vector< Nav2Nodes >

waitNodes = { Nav2Nodes::PlannerServer, Nav2Nodes::ControllerServer, Nav2Nodes::BtNavigator}

)

Definition at line 26 of file cb_wait_nav2_nodes.cpp.

: CbWaitNav2Nodes("/bond", waitNodes)
{
}

Member Function Documentation

onEntry()

void cl_nav2z::CbWaitNav2Nodes::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 80 of file cb_wait_nav2_nodes.cpp.

{
  std::stringstream ss;
  for (auto v : waitNodes_)
  {
    receivedAliveMsg_[v] = false;
    ss << "[CbWaitNav2Nodes] - " << toString(v) << ": waiting" << std::endl;
  }
  RCLCPP_INFO(getLogger(), ss.str().c_str());
 
  //rclcpp::SensorDataQoS qos;
  rclcpp::SubscriptionOptions sub_option;
 
  sub_ = getNode()->create_subscription<bond::msg::Status>(
    topicname_, 20, std::bind(&CbWaitNav2Nodes::onMessageReceived, this, std::placeholders::_1),
    sub_option);
}

References smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getNode(), onMessageReceived(), receivedAliveMsg_, sub_, topicname_, cl_nav2z::toString(), and waitNodes_.

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onMessageReceived()

void cl_nav2z::CbWaitNav2Nodes::onMessageReceived ( const bond::msg::Status &  msg )

private

Definition at line 36 of file cb_wait_nav2_nodes.cpp.

{
  auto value = fromString(msg.id);
  bool updated = false;
  // RCLCPP_INFO(getLogger(), "[CbWaitNav2Nodes] received '%s'", msg.id.c_str());
 
  if (receivedAliveMsg_.count(value) && !receivedAliveMsg_[value])
  {
    RCLCPP_INFO(getLogger(), "[CbWaitNav2Nodes] '%s' alive received", msg.id.c_str());
    receivedAliveMsg_[value] = true;
    updated = true;
  }
 
  if (updated)
  {
    bool success = true;
    std::stringstream ss;
    for (auto & pair : receivedAliveMsg_)
    {
      if (!pair.second)
      {
        success = false;
      }
      ss << "- " << toString(pair.first) << ": " << (pair.second ? "ALIVE" : "WAITING")
         << std::endl;
    }
 
    RCLCPP_INFO_STREAM(
      getLogger(), "[CbWaitNav2Nodes] waiting nodes status:" << std::endl
                                                             << ss.str().c_str());
 
    if (success)
    {
      RCLCPP_INFO(getLogger(), "[CbWaitNav2Nodes] success event");
      this->postSuccessEvent();
      sub_ = nullptr;
    }
    else
    {
      RCLCPP_INFO(getLogger(), "[CbWaitNav2Nodes] still missing nodes");
    }
  }
}

References cl_nav2z::fromString(), smacc2::ISmaccClientBehavior::getLogger(), smacc2::SmaccAsyncClientBehavior::postSuccessEvent(), receivedAliveMsg_, sub_, and cl_nav2z::toString().

Referenced by onEntry().

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Member Data Documentation

receivedAliveMsg_

std::map<Nav2Nodes, bool> cl_nav2z::CbWaitNav2Nodes::receivedAliveMsg_

private

Definition at line 63 of file cb_wait_nav2_nodes.hpp.

Referenced by onEntry(), and onMessageReceived().

sub_

rclcpp::Subscription<bond::msg::Status>::SharedPtr cl_nav2z::CbWaitNav2Nodes::sub_

private

Definition at line 62 of file cb_wait_nav2_nodes.hpp.

Referenced by onEntry(), and onMessageReceived().

topicname_

std::string cl_nav2z::CbWaitNav2Nodes::topicname_

private

Definition at line 60 of file cb_wait_nav2_nodes.hpp.

Referenced by onEntry().

waitNodes_

std::vector<Nav2Nodes> cl_nav2z::CbWaitNav2Nodes::waitNodes_

private

Definition at line 65 of file cb_wait_nav2_nodes.hpp.

Referenced by onEntry().

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

• smacc2_client_library/nav2z_client/nav2z_client/include/nav2z_client/client_behaviors/cb_wait_nav2_nodes.hpp
• smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/client_behaviors/cb_wait_nav2_nodes.cpp