cl_ros_timer::ClRosTimer Class Reference

#include <cl_ros_timer.hpp>

Inheritance diagram for cl_ros_timer::ClRosTimer:

Collaboration diagram for cl_ros_timer::ClRosTimer:

Public Member Functions
	ClRosTimer (rclcpp::Duration duration, bool oneshot=false)
virtual	~ClRosTimer ()
virtual void	initialize ()
template<typename T >
boost::signals2::connection	onTimerTick (void(T::*callback)(), T *object)
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
	ClRosTimer (rclcpp::Duration duration, bool oneshot=false)
virtual	~ClRosTimer ()
virtual void	onInitialize () override
template<typename T >
boost::signals2::connection	onTimerTick (void(T::*callback)(), T *object)
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
Public Member Functions inherited from smacc2::ISmaccClient
	ISmaccClient ()
virtual	~ISmaccClient ()
virtual void	onInitialize ()
virtual std::string	getName () const
template<typename TComponent >
TComponent *	getComponent ()
template<typename TComponent >
TComponent *	getComponent (std::string name)
template<typename TComponent >
TComponent *	getComponent (int index)
virtual smacc2::introspection::TypeInfo::Ptr	getType ()
ISmaccStateMachine *	getStateMachine ()
template<typename TSmaccSignal , typename T >
void	connectSignal (TSmaccSignal &signal, void(T::*callback)(), T *object)
template<typename SmaccClientType >
void	requiresClient (SmaccClientType *&storage)
void	getComponents (std::vector< std::shared_ptr< ISmaccComponent > > &components)
const std::vector< std::shared_ptr< ISmaccComponent > > &	iterateComponents () const
template<typename EventType >
void	postEvent (const EventType &ev)
template<typename EventType >
void	postEvent ()

Protected Member Functions
void	timerCallback ()
void	timerCallback ()
Protected Member Functions inherited from smacc2::ISmaccClient
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createComponent (TArgs... targs)
template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createNamedComponent (std::string name, TArgs... targs)
rclcpp::Node::SharedPtr	getNode ()
rclcpp::Logger	getLogger ()

Protected Attributes
rclcpp::TimerBase::SharedPtr	timer_
rclcpp::Duration	duration_
bool	oneshot_
std::function< void()>	postTimerEvent_
smacc2::SmaccSignal< void()>	onTimerTick_
Protected Attributes inherited from smacc2::ISmaccClient
std::map< ComponentKey, std::shared_ptr< smacc2::ISmaccComponent > >	components_

Detailed Description

Definition at line 39 of file cl_ros_timer.hpp.

Constructor & Destructor Documentation

ClRosTimer() [1/2]

cl_ros_timer::ClRosTimer::ClRosTimer	(	rclcpp::Duration	duration,
		bool	oneshot = false
	)

Definition at line 19 of file timer_client.cpp.

: duration_(duration), oneshot_(oneshot)
{
}

~ClRosTimer() [1/2]

cl_ros_timer::ClRosTimer::~ClRosTimer ( )

virtual

Definition at line 24 of file timer_client.cpp.

{ timer_->cancel(); }

References timer_.

ClRosTimer() [2/2]

cl_ros_timer::ClRosTimer::ClRosTimer	(	rclcpp::Duration	duration,
		bool	oneshot = false
	)

~ClRosTimer() [2/2]

virtual cl_ros_timer::ClRosTimer::~ClRosTimer ( )

virtual

Member Function Documentation

initialize()

virtual void cl_ros_timer::ClRosTimer::initialize ( )

virtual

onInitialize()

void cl_ros_timer::ClRosTimer::onInitialize ( )

overridevirtual

Reimplemented from smacc2::ISmaccClient.

Definition at line 26 of file timer_client.cpp.

{
  auto clock = this->getNode()->get_clock();
 
  timer_ = rclcpp::create_timer(
    this->getNode(), clock, duration_, std::bind(&ClRosTimer::timerCallback, this));
}

References duration_, smacc2::ISmaccClient::getNode(), timer_, and timerCallback().

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onOrthogonalAllocation() [1/2]

template<typename TOrthogonal , typename TSourceObject >

void cl_ros_timer::ClRosTimer::onOrthogonalAllocation ( )

inline

Definition at line 55 of file cl_ros_timer.hpp.

  {
    this->postTimerEvent_ = [=]() { this->postEvent<EvTimer<TSourceObject, TOrthogonal>>(); };
  }

References postTimerEvent_.

onOrthogonalAllocation() [2/2]

template<typename TOrthogonal , typename TSourceObject >

void cl_ros_timer::ClRosTimer::onOrthogonalAllocation ( )

inline

Definition at line 55 of file cl_ros_timer.hpp.

  {
    this->postTimerEvent_ = [this]() { this->postEvent<EvTimer<TSourceObject, TOrthogonal>>(); };
  }

References postTimerEvent_.

onTimerTick() [1/2]

template<typename T >

boost::signals2::connection cl_ros_timer::ClRosTimer::onTimerTick ( void(T::*)()  callback, T *  object  )

inline

Definition at line 49 of file cl_ros_timer.hpp.

  {
    return this->getStateMachine()->createSignalConnection(onTimerTick_, callback, object);
  }

References smacc2::ISmaccStateMachine::createSignalConnection(), smacc2::ISmaccClient::getStateMachine(), and onTimerTick_.

Referenced by cl_ros_timer::CbTimer::onEntry(), cl_ros_timer::CbTimerCountdownLoop::onEntry(), and cl_ros_timer::CbTimerCountdownOnce::onEntry().

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onTimerTick() [2/2]

template<typename T >

boost::signals2::connection cl_ros_timer::ClRosTimer::onTimerTick ( void(T::*)()  callback, T *  object  )

inline

Definition at line 49 of file cl_ros_timer.hpp.

  {
    return this->getStateMachine()->createSignalConnection(onTimerTick_, callback, object);
  }

References smacc2::ISmaccStateMachine::createSignalConnection(), smacc2::ISmaccClient::getStateMachine(), and onTimerTick_.

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timerCallback() [1/2]

void cl_ros_timer::ClRosTimer::timerCallback ( )

protected

Definition at line 34 of file timer_client.cpp.

{
  if (!onTimerTick_.empty())
  {
    this->onTimerTick_();
  }
  postTimerEvent_();
 
  if (oneshot_)
  {
    this->timer_->cancel();
  }
}

References oneshot_, onTimerTick_, postTimerEvent_, and timer_.

Referenced by onInitialize().

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timerCallback() [2/2]

void cl_ros_timer::ClRosTimer::timerCallback ( )

protected

Member Data Documentation

duration_

rclcpp::Duration cl_ros_timer::ClRosTimer::duration_

protected

Definition at line 62 of file cl_ros_timer.hpp.

Referenced by onInitialize().

oneshot_

bool cl_ros_timer::ClRosTimer::oneshot_

protected

Definition at line 63 of file cl_ros_timer.hpp.

Referenced by timerCallback().

onTimerTick_

smacc2::SmaccSignal< void()> cl_ros_timer::ClRosTimer::onTimerTick_

protected

Definition at line 67 of file cl_ros_timer.hpp.

Referenced by onTimerTick(), and timerCallback().

postTimerEvent_

std::function< void()> cl_ros_timer::ClRosTimer::postTimerEvent_

protected

Definition at line 66 of file cl_ros_timer.hpp.

Referenced by onOrthogonalAllocation(), and timerCallback().

timer_

rclcpp::TimerBase::SharedPtr cl_ros_timer::ClRosTimer::timer_

protected

Definition at line 61 of file cl_ros_timer.hpp.

Referenced by onInitialize(), timerCallback(), and ~ClRosTimer().

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

• smacc2_client_library/ros_timer_client/include/include/ros_timer_client/cl_ros_timer.hpp
• smacc2_client_library/ros_timer_client/include/ros_timer_client/cl_ros_timer.hpp
• smacc2_client_library/ros_timer_client/src/ros_timer_client/timer_client.cpp