smacc2::ISmaccClientBehavior Class Reference

#include <smacc_client_behavior_base.hpp>

Inheritance diagram for smacc2::ISmaccClientBehavior:

Collaboration diagram for smacc2::ISmaccClientBehavior:

Public Member Functions
	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 Member Functions
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

Private Member Functions
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()

Private Attributes
ISmaccStateMachine *	stateMachine_
ISmaccState *	currentState
smacc2::ISmaccOrthogonal *	currentOrthogonal

Friends
class	ISmaccState
class	ISmaccOrthogonal
class	ISmaccAsynchronousClientBehavior

Detailed Description

Definition at line 29 of file smacc_client_behavior_base.hpp.

Constructor & Destructor Documentation

ISmaccClientBehavior()

smacc2::ISmaccClientBehavior::ISmaccClientBehavior

(

)

Definition at line 25 of file smacc_client_behavior_base.cpp.

{
  stateMachine_ = nullptr;
  currentState = nullptr;
}

References currentState, and stateMachine_.

~ISmaccClientBehavior()

smacc2::ISmaccClientBehavior::~ISmaccClientBehavior ( )

virtual

Definition at line 31 of file smacc_client_behavior_base.cpp.

{
  RCLCPP_WARN_STREAM(getLogger(), "[" << getName() << "Client behavior deallocated.");
}

References getLogger(), and getName().

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Member Function Documentation

dispose()

void smacc2::ISmaccClientBehavior::dispose ( )

protectedvirtual

Reimplemented in smacc2::SmaccAsyncClientBehavior.

Definition at line 77 of file smacc_client_behavior_base.cpp.

{}

executeOnEntry()

void smacc2::ISmaccClientBehavior::executeOnEntry ( )

virtual

Reimplemented in smacc2::SmaccAsyncClientBehavior.

Definition at line 63 of file smacc_client_behavior_base.cpp.

{
  RCLCPP_DEBUG(
    getLogger(), "[%s] Default empty SmaccClientBehavior onEntry", this->getName().c_str());
  this->onEntry();
}

References getLogger(), getName(), and onEntry().

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executeOnExit()

void smacc2::ISmaccClientBehavior::executeOnExit ( )

virtual

Reimplemented in smacc2::SmaccAsyncClientBehavior.

Definition at line 70 of file smacc_client_behavior_base.cpp.

{
  RCLCPP_DEBUG(
    getLogger(), "[%s] Default empty SmaccClientBehavior onExit", this->getName().c_str());
  this->onExit();
}

References getLogger(), getName(), and onExit().

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getCurrentState()

ISmaccState * smacc2::ISmaccClientBehavior::getCurrentState ( )

inlineprotected

Definition at line 64 of file smacc_client_behavior_impl.hpp.

{ return this->currentState; }

References currentState.

Referenced by cl_nav2z::CbAbsoluteRotate::onEntry(), cl_nav2z::CbNavigateForward::onEntry(), cl_nav2z::CbNavigateGlobalPosition::onEntry(), cl_nav2z::CbRotate::onEntry(), and smacc2::client_behaviors::CbSequence::then().

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getLogger()

rclcpp::Logger smacc2::ISmaccClientBehavior::getLogger ( ) const

protectedvirtual

Definition at line 43 of file smacc_client_behavior_base.cpp.

{
  auto nh = this->getNode();
  if (nh != nullptr)
  {
    return nh->get_logger();
  }
  else
  {
    return rclcpp::get_logger("SMACC");
  }
}

References getNode().

Referenced by cl_nav2z::CbNavigateBackwards::CbNavigateBackwards(), cl_move_group_interface::CbCircularPivotMotion::computeCurrentEndEffectorPoseRelativeToPivot(), cl_move_group_interface::CbMoveEndEffectorTrajectory::computeJointSpaceTrajectory(), smacc2::SmaccAsyncClientBehavior::dispose(), cl_nav2z::CbNavigateGlobalPosition::execute(), cl_move_group_interface::CbMoveEndEffectorTrajectory::executeJointSpaceTrajectory(), executeOnEntry(), smacc2::SmaccAsyncClientBehavior::executeOnEntry(), executeOnExit(), smacc2::SmaccAsyncClientBehavior::executeOnExit(), cl_move_group_interface::CbCircularPivotMotion::generateTrajectory(), cl_move_group_interface::CbMoveCartesianRelative2::generateTrajectory(), cl_move_group_interface::CbCircularPouringMotion::generateTrajectory(), cl_move_group_interface::CbMoveEndEffectorTrajectory::initializeROS(), cl_nav2z::CbNav2ZClientBehaviorBase::isOwnActionResponse(), cl_move_group_interface::CbMoveKnownState::loadJointStatesFromFile(), cl_move_group_interface::CbMoveJoints::moveJoints(), cl_move_group_interface::CbMoveEndEffectorRelative::moveRelative(), cl_move_group_interface::CbMoveCartesianRelative::moveRelativeCartesian(), cl_move_group_interface::CbMoveEndEffector::moveToAbsolutePose(), smacc2::client_behaviors::CbServiceCall< ServiceType >::onEntry(), smacc2::client_behaviors::CbRosLaunch::onEntry(), smacc2::client_behaviors::CbSequence::onEntry(), smacc2::client_behaviors::CbWaitActionServer::onEntry(), smacc2::client_behaviors::CbWaitNode::onEntry(), smacc2::client_behaviors::CbWaitTopicMessage< TMessage >::onEntry(), smacc2::SmaccClientBehavior::onEntry(), cl_move_group_interface::CbAttachObject::onEntry(), cl_move_group_interface::CbDetachObject::onEntry(), cl_move_group_interface::CbEndEffectorRotate::onEntry(), cl_move_group_interface::CbMoveEndEffector::onEntry(), cl_move_group_interface::CbMoveEndEffectorRelative::onEntry(), cl_move_group_interface::CbMoveEndEffectorTrajectory::onEntry(), cl_move_group_interface::CbMoveLastTrajectoryInitialState::onEntry(), cl_move_group_interface::CbUndoLastTrajectory::onEntry(), cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >::onEntry(), cl_nav2z::CbAbsoluteRotate::onEntry(), cl_nav2z::CbNavigateBackwards::onEntry(), cl_nav2z::CbNavigateForward::onEntry(), cl_nav2z::CbNavigateGlobalPosition::onEntry(), cl_nav2z::CbNavigateNextWaypoint::onEntry(), cl_nav2z::CbPauseSlam::onEntry(), cl_nav2z::CbResumeSlam::onEntry(), cl_nav2z::CbRotate::onEntry(), cl_nav2z::CbUndoPathBackwards::onEntry(), cl_nav2z::CbWaitNav2Nodes::onEntry(), cl_nav2z::CbWaitPose::onEntry(), cl_nav2z::CbWaitTransform::onEntry(), smacc2::SmaccClientBehavior::onExit(), cl_nav2z::CbNavigateGlobalPosition::onExit(), cl_nav2z::CbUndoPathBackwards::onExit(), cl_nav2z::CbWaitNav2Nodes::onMessageReceived(), smacc2::client_behaviors::CbWaitTopicMessage< TMessage >::onMessageReceived(), cl_nav2z::CbNav2ZClientBehaviorBase::onNavigationActionAbort(), cl_nav2z::CbNav2ZClientBehaviorBase::onNavigationActionSuccess(), cl_nav2z::CbNavigateNextWaypointUntilReached::onNavigationActionSuccess(), cl_lifecyclenode::CbConfigure::onOrthogonalAllocation(), cl_move_group_interface::CbMoveEndEffectorTrajectory::onOrthogonalAllocation(), cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >::onOrthogonalAllocation(), smacc2::client_behaviors::CbServiceCall< ServiceType >::onServiceResponse(), smacc2::client_behaviors::CbSequence::onSubNodeAbort(), smacc2::client_behaviors::CbSequence::onSubNodeSuccess(), postEvent(), cl_keyboard::CbDefaultKeyboardBehavior::postKeyEvent(), smacc2::client_behaviors::CbSequence::recursiveConsumeNext(), smacc2::SmaccAsyncClientBehavior::requestForceFinish(), requiresComponent(), runtimeConfigure(), cl_nav2z::CbNav2ZClientBehaviorBase::sendGoal(), cl_nav2z::CbNavigateForward::setForwardDistance(), smacc2::client_behaviors::CbSequence::then(), cl_nav2z::CbAbsoluteRotate::updateTemporalBehaviorParameters(), smacc2::SmaccAsyncClientBehavior::waitFutureIfNotFinished(), and ~ISmaccClientBehavior().

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getName()

std::string smacc2::ISmaccClientBehavior::getName

(

)

const

Definition at line 36 of file smacc_client_behavior_base.cpp.

{ return demangleSymbol(typeid(*this).name()); }

References smacc2::introspection::demangleSymbol().

Referenced by cl_move_group_interface::CbCircularPivotMotion::computeCurrentEndEffectorPoseRelativeToPivot(), cl_move_group_interface::CbMoveEndEffectorTrajectory::computeJointSpaceTrajectory(), smacc2::SmaccAsyncClientBehavior::dispose(), cl_move_group_interface::CbMoveEndEffectorTrajectory::executeJointSpaceTrajectory(), executeOnEntry(), smacc2::SmaccAsyncClientBehavior::executeOnEntry(), executeOnExit(), smacc2::SmaccAsyncClientBehavior::executeOnExit(), cl_move_group_interface::CbCircularPivotMotion::generateTrajectory(), cl_move_group_interface::CbMoveCartesianRelative2::generateTrajectory(), cl_move_group_interface::CbCircularPouringMotion::generateTrajectory(), cl_move_group_interface::CbMoveEndEffectorTrajectory::initializeROS(), cl_nav2z::CbNav2ZClientBehaviorBase::isOwnActionResponse(), cl_move_group_interface::CbMoveKnownState::loadJointStatesFromFile(), cl_move_group_interface::CbMoveJoints::moveJoints(), smacc2::client_behaviors::CbServiceCall< ServiceType >::onEntry(), smacc2::client_behaviors::CbWaitNode::onEntry(), smacc2::SmaccClientBehavior::onEntry(), cl_move_group_interface::CbAttachObject::onEntry(), cl_move_group_interface::CbDetachObject::onEntry(), cl_move_group_interface::CbEndEffectorRotate::onEntry(), cl_move_group_interface::CbMoveEndEffectorTrajectory::onEntry(), cl_move_group_interface::CbMoveLastTrajectoryInitialState::onEntry(), cl_move_group_interface::CbUndoLastTrajectory::onEntry(), cl_nav2z::CbAbsoluteRotate::onEntry(), cl_nav2z::CbNavigateForward::onEntry(), cl_nav2z::CbNavigateGlobalPosition::onEntry(), cl_nav2z::CbRotate::onEntry(), cl_nav2z::CbUndoPathBackwards::onEntry(), smacc2::SmaccClientBehavior::onExit(), cl_nav2z::CbUndoPathBackwards::onExit(), cl_nav2z::CbNav2ZClientBehaviorBase::onNavigationActionAbort(), cl_nav2z::CbNav2ZClientBehaviorBase::onNavigationActionSuccess(), cl_nav2z::CbNavigateNextWaypointUntilReached::onNavigationActionSuccess(), cl_move_group_interface::CbMoveEndEffectorTrajectory::onOrthogonalAllocation(), smacc2::client_behaviors::CbServiceCall< ServiceType >::onServiceResponse(), smacc2::SmaccAsyncClientBehavior::requestForceFinish(), runtimeConfigure(), cl_nav2z::CbNav2ZClientBehaviorBase::sendGoal(), cl_nav2z::CbNavigateForward::setForwardDistance(), cl_nav2z::CbAbsoluteRotate::updateTemporalBehaviorParameters(), smacc2::SmaccAsyncClientBehavior::waitFutureIfNotFinished(), and ~ISmaccClientBehavior().

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getNode()

rclcpp::Node::SharedPtr smacc2::ISmaccClientBehavior::getNode ( ) const

protectedvirtual

Definition at line 38 of file smacc_client_behavior_base.cpp.

{
  return this->stateMachine_->getNode();
}

References smacc2::ISmaccStateMachine::getNode(), and stateMachine_.

Referenced by cl_move_group_interface::CbCircularPivotMotion::computeCurrentEndEffectorPoseRelativeToPivot(), cl_move_group_interface::CbMoveEndEffectorTrajectory::createMarkers(), cl_move_group_interface::CbCircularPivotMotion::createMarkers(), cl_move_group_interface::CbCircularPouringMotion::createMarkers(), cl_move_group_interface::CbMoveCartesianRelative2::generateTrajectory(), cl_move_group_interface::CbCircularPouringMotion::generateTrajectory(), cl_move_group_interface::CbMoveEndEffectorTrajectory::getCurrentEndEffectorPose(), getLogger(), cl_move_group_interface::CbMoveEndEffectorTrajectory::initializeROS(), smacc2::client_behaviors::CbServiceCall< ServiceType >::onEntry(), smacc2::client_behaviors::CbSequence::onEntry(), smacc2::client_behaviors::CbWaitNode::onEntry(), smacc2::client_behaviors::CbWaitTopicMessage< TMessage >::onEntry(), cl_move_group_interface::CbAttachObject::onEntry(), cl_move_group_interface::CbEndEffectorRotate::onEntry(), cl_move_group_interface::CbMoveCartesianRelative::onEntry(), cl_move_group_interface::CbMoveEndEffector::onEntry(), cl_move_group_interface::CbMoveEndEffectorRelative::onEntry(), cl_move_group_interface::CbMoveJoints::onEntry(), cl_nav2z::CbAbsoluteRotate::onEntry(), cl_nav2z::CbNavigateBackwards::onEntry(), cl_nav2z::CbNavigateForward::onEntry(), cl_nav2z::CbRotate::onEntry(), cl_nav2z::CbUndoPathBackwards::onEntry(), cl_nav2z::CbWaitNav2Nodes::onEntry(), cl_nav2z::CbWaitTransform::onEntry(), cl_move_group_interface::CbMoveEndEffectorTrajectory::onExit(), smacc2::SmaccAsyncClientBehavior::requestForceFinish(), cl_nav2z::CbAbsoluteRotate::updateTemporalBehaviorParameters(), and smacc2::SmaccAsyncClientBehavior::waitFutureIfNotFinished().

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getStateMachine()

ISmaccStateMachine * smacc2::ISmaccClientBehavior::getStateMachine ( )

inline

Definition at line 61 of file smacc_client_behavior_impl.hpp.

{ return this->stateMachine_; }

References stateMachine_.

Referenced by cl_nav2z::CbNavigateNextWaypoint::onEntry(), smacc2::SmaccAsyncClientBehavior::onFailure(), smacc2::SmaccAsyncClientBehavior::onFinished(), smacc2::SmaccAsyncClientBehavior::onSuccess(), cl_ros_timer::CbTimerCountdownLoop::onTimerTick(), cl_ros_timer::CbTimerCountdownOnce::onTimerTick(), and cl_nav2z::CbNav2ZClientBehaviorBase::sendGoal().

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onEntry()

virtual void smacc2::ISmaccClientBehavior::onEntry ( )

inlinevirtual

Reimplemented in cl_keyboard::CbDefaultKeyboardBehavior, smacc2::client_behaviors::CbServiceCall< ServiceType >, smacc2::client_behaviors::CbServiceCall< slam_toolbox::srv::Pause >, smacc2::client_behaviors::CbRosLaunch, smacc2::client_behaviors::CbSequence, smacc2::CbServiceServerCallbackBase< TService >, smacc2::client_behaviors::CbSubscriptionCallbackBase< TMsg >, smacc2::client_behaviors::CbWaitActionServer, smacc2::client_behaviors::CbWaitNode, smacc2::client_behaviors::CbWaitTopicMessage< TMessage >, smacc2::SmaccClientBehavior, cl_lifecyclenode::CbActivate, cl_lifecyclenode::CbCleanup, cl_lifecyclenode::CbConfigure, cl_lifecyclenode::CbDeactivate, cl_lifecyclenode::CbDestroy, cl_lifecyclenode::CbShutdown, cl_move_group_interface::CbAttachObject, cl_move_group_interface::CbDetachObject, cl_move_group_interface::CbEndEffectorRotate, cl_move_group_interface::CbExecuteLastTrajectory, cl_move_group_interface::CbMoveCartesianRelative, cl_move_group_interface::CbMoveEndEffector, cl_move_group_interface::CbMoveEndEffectorRelative, cl_move_group_interface::CbMoveEndEffectorTrajectory, cl_move_group_interface::CbMoveJoints, cl_move_group_interface::CbMoveKnownState, cl_move_group_interface::CbMoveLastTrajectoryInitialState, cl_move_group_interface::CbMoveNamedTarget, cl_move_group_interface::CbUndoLastTrajectory, cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >, cl_nav2z::CbAbortNavigation, cl_nav2z::CbAbsoluteRotate, cl_nav2z::CbNavigateBackwards, cl_nav2z::CbNavigateForward, cl_nav2z::CbNavigateGlobalPosition, cl_nav2z::CbNavigateNamedWaypoint, cl_nav2z::CbNavigateNextWaypoint, cl_nav2z::CbNavigateNextWaypointUntilReached, cl_nav2z::CbPauseSlam, cl_nav2z::CbResumeSlam, cl_nav2z::CbRotate, cl_nav2z::CbRotateLookAt, cl_nav2z::CbSeekWaypoint, cl_nav2z::CbStopNavigation, cl_nav2z::CbUndoPathBackwards, cl_nav2z::CbWaitNav2Nodes, cl_nav2z::CbWaitPose, cl_nav2z::CbWaitTransform, cl_ros_publisher::CbDefaultPublishLoop, cl_ros_publisher::CbMutedBehavior< RosMsgType >, cl_ros_publisher::CbPublishOnce< RosMsgType >, cl_ros_timer::CbTimer, cl_ros_timer::CbTimer, cl_ros_timer::CbTimerCountdownLoop, cl_ros_timer::CbTimerCountdownLoop, cl_ros_timer::CbTimerCountdownOnce, cl_ros_timer::CbTimerCountdownOnce, cl_ros_timer::CbTimer, cl_ros_timer::CbTimerCountdownLoop, and cl_ros_timer::CbTimerCountdownOnce.

Definition at line 46 of file smacc_client_behavior_base.hpp.

{}

Referenced by executeOnEntry(), smacc2::SmaccAsyncClientBehavior::executeOnEntry(), and cl_move_group_interface::CbEndEffectorRotate::onEntry().

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onExit()

virtual void smacc2::ISmaccClientBehavior::onExit ( )

inlinevirtual

Reimplemented in cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >, smacc2::client_behaviors::CbSequence, smacc2::SmaccClientBehavior, cl_move_group_interface::CbAttachObject, cl_move_group_interface::CbDetachObject, cl_move_group_interface::CbMoveCartesianRelative, cl_move_group_interface::CbMoveEndEffectorRelative, cl_move_group_interface::CbMoveEndEffectorTrajectory, cl_move_group_interface::CbMoveJoints, cl_move_group_interface::CbMoveNamedTarget, cl_nav2z::CbAbortNavigation, cl_nav2z::CbAbsoluteRotate, cl_nav2z::CbNavigateBackwards, cl_nav2z::CbNavigateForward, cl_nav2z::CbNavigateGlobalPosition, cl_nav2z::CbNavigateNamedWaypoint, cl_nav2z::CbNavigateNextWaypoint, cl_nav2z::CbNavigateNextWaypointUntilReached, cl_nav2z::CbSeekWaypoint, cl_nav2z::CbStopNavigation, cl_nav2z::CbUndoPathBackwards, cl_ros_publisher::CbDefaultPublishLoop, cl_ros_publisher::CbMutedBehavior< RosMsgType >, cl_ros_publisher::CbPublishOnce< RosMsgType >, cl_ros_timer::CbTimer, cl_ros_timer::CbTimerCountdownLoop, and cl_ros_timer::CbTimerCountdownOnce.

Definition at line 48 of file smacc_client_behavior_base.hpp.

{}

Referenced by executeOnExit(), and smacc2::SmaccAsyncClientBehavior::executeOnExit().

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onOrthogonalAllocation()

template<typename TOrthogonal , typename TSourceObject >

void smacc2::ISmaccClientBehavior::onOrthogonalAllocation

private

Definition at line 90 of file smacc_client_behavior_impl.hpp.

{
}

postEvent() [1/2]

template<typename EventType >

void smacc2::ISmaccClientBehavior::postEvent

protected

Definition at line 45 of file smacc_client_behavior_impl.hpp.

{
  if (stateMachine_ == nullptr)
  {
    RCLCPP_ERROR(
      getLogger(),
      "The client behavior cannot post events before being assigned to an orthogonal. Ignoring "
      "post event call.");
  }
  else
  {
    stateMachine_->template postEvent<EventType>(EventLifeTime::CURRENT_STATE);
  }
}

References smacc2::CURRENT_STATE, getLogger(), and stateMachine_.

Referenced by cl_move_group_interface::CbMoveEndEffectorTrajectory::onOrthogonalAllocation(), and cl_keyboard::CbDefaultKeyboardBehavior::postKeyEvent().

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postEvent() [2/2]

template<typename EventType >

void smacc2::ISmaccClientBehavior::postEvent ( const EventType &  ev )

protected

Definition at line 29 of file smacc_client_behavior_impl.hpp.

{
  if (stateMachine_ == nullptr)
  {
    RCLCPP_ERROR(
      getLogger(),
      "The client behavior cannot post events before being assigned to an orthogonal. Ignoring "
      "post event call.");
  }
  else
  {
    stateMachine_->postEvent(ev, EventLifeTime::CURRENT_STATE);
  }
}

References smacc2::CURRENT_STATE, getLogger(), smacc2::ISmaccStateMachine::postEvent(), and stateMachine_.

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requiresClient()

template<typename SmaccClientType >

void smacc2::ISmaccClientBehavior::requiresClient

(

SmaccClientType *&

storage

)

Definition at line 67 of file smacc_client_behavior_impl.hpp.

{
  currentOrthogonal->requiresClient(storage);
}

References currentOrthogonal, and smacc2::ISmaccOrthogonal::requiresClient().

Referenced by cl_keyboard::CbDefaultKeyboardBehavior::onEntry(), smacc2::client_behaviors::CbRosLaunch::onEntry(), smacc2::CbServiceServerCallbackBase< TService >::onEntry(), smacc2::client_behaviors::CbSubscriptionCallbackBase< TMsg >::onEntry(), cl_move_group_interface::CbAttachObject::onEntry(), cl_move_group_interface::CbDetachObject::onEntry(), cl_move_group_interface::CbEndEffectorRotate::onEntry(), cl_move_group_interface::CbExecuteLastTrajectory::onEntry(), cl_move_group_interface::CbMoveCartesianRelative::onEntry(), cl_move_group_interface::CbMoveEndEffector::onEntry(), cl_move_group_interface::CbMoveEndEffectorRelative::onEntry(), cl_move_group_interface::CbMoveEndEffectorTrajectory::onEntry(), cl_move_group_interface::CbMoveJoints::onEntry(), cl_move_group_interface::CbMoveNamedTarget::onEntry(), cl_move_group_interface::CbUndoLastTrajectory::onEntry(), cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >::onEntry(), cl_nav2z::CbRotate::onEntry(), cl_nav2z::CbSeekWaypoint::onEntry(), cl_ros_publisher::CbDefaultPublishLoop::onEntry(), cl_ros_publisher::CbPublishOnce< RosMsgType >::onEntry(), cl_ros_timer::CbTimer::onEntry(), cl_ros_timer::CbTimerCountdownLoop::onEntry(), cl_ros_timer::CbTimerCountdownOnce::onEntry(), smacc2::client_behaviors::CbWaitActionServer::onOrthogonalAllocation(), cl_lifecyclenode::CbActivate::onOrthogonalAllocation(), cl_lifecyclenode::CbCleanup::onOrthogonalAllocation(), cl_lifecyclenode::CbConfigure::onOrthogonalAllocation(), cl_lifecyclenode::CbDeactivate::onOrthogonalAllocation(), cl_lifecyclenode::CbDestroy::onOrthogonalAllocation(), cl_lifecyclenode::CbShutdown::onOrthogonalAllocation(), cl_nav2z::CbAbortNavigation::onOrthogonalAllocation(), cl_nav2z::CbNav2ZClientBehaviorBase::onOrthogonalAllocation(), cl_nav2z::CbNavigateNextWaypointUntilReached::onOrthogonalAllocation(), and cl_nav2z::CbWaitPose::onOrthogonalAllocation().

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requiresComponent()

template<typename SmaccComponentType >

void smacc2::ISmaccClientBehavior::requiresComponent	(	SmaccComponentType *&	storage,
		bool	throwExceptionIfNotExist = false
	)

Definition at line 73 of file smacc_client_behavior_impl.hpp.

{
  if (stateMachine_ == nullptr)
  {
    RCLCPP_ERROR(
      getLogger(),
      "Cannot use the requiresComponent funcionality before assigning the client behavior to an "
      "orthogonal. Try using the OnEntry method to capture required components.");
  }
  else
  {
    stateMachine_->requiresComponent(storage, throwExceptionIfNotExist);
  }
}

References getLogger(), smacc2::ISmaccStateMachine::requiresComponent(), and stateMachine_.

Referenced by cl_move_group_interface::CbAttachObject::onEntry(), cl_move_group_interface::CbDetachObject::onEntry(), cl_move_group_interface::CbExecuteLastTrajectory::onEntry(), cl_move_group_interface::CbMoveEndEffectorTrajectory::onEntry(), cl_move_group_interface::CbMoveLastTrajectoryInitialState::onEntry(), cl_move_group_interface::CbUndoLastTrajectory::onEntry(), cl_nav2z::CbPauseSlam::onEntry(), cl_nav2z::CbResumeSlam::onEntry(), cl_nav2z::CbRotateLookAt::onEntry(), and cl_nav2z::CbStopNavigation::onEntry().

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runtimeConfigure()

void smacc2::ISmaccClientBehavior::runtimeConfigure ( )

protectedvirtual

Definition at line 56 of file smacc_client_behavior_base.cpp.

{
  RCLCPP_DEBUG(
    getLogger(), "[%s] Default empty SmaccClientBehavior runtimeConfigure",
    this->getName().c_str());
}

References getLogger(), and getName().

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Friends And Related Function Documentation

ISmaccAsynchronousClientBehavior

friend class ISmaccAsynchronousClientBehavior

friend

Definition at line 86 of file smacc_client_behavior_base.hpp.

ISmaccOrthogonal

friend class ISmaccOrthogonal

friend

Definition at line 85 of file smacc_client_behavior_base.hpp.

ISmaccState

friend class ISmaccState

friend

Definition at line 84 of file smacc_client_behavior_base.hpp.

Member Data Documentation

currentOrthogonal

smacc2::ISmaccOrthogonal* smacc2::ISmaccClientBehavior::currentOrthogonal

private

Definition at line 82 of file smacc_client_behavior_base.hpp.

Referenced by requiresClient().

currentState

ISmaccState* smacc2::ISmaccClientBehavior::currentState

private

Definition at line 81 of file smacc_client_behavior_base.hpp.

Referenced by cl_move_group_interface::CbMoveEndEffectorTrajectory::computeJointSpaceTrajectory(), getCurrentState(), ISmaccClientBehavior(), cl_nav2z::CbPauseSlam::onEntry(), and cl_nav2z::CbResumeSlam::onEntry().

stateMachine_

ISmaccStateMachine* smacc2::ISmaccClientBehavior::stateMachine_

private

Definition at line 78 of file smacc_client_behavior_base.hpp.

Referenced by getNode(), getStateMachine(), ISmaccClientBehavior(), postEvent(), and requiresComponent().

---

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

• smacc2/include/smacc2/smacc_client_behavior_base.hpp
• smacc2/include/smacc2/impl/smacc_client_behavior_impl.hpp
• smacc2/src/smacc2/smacc_client_behavior_base.cpp