smacc2::ISmaccOrthogonal Class Reference

#include <smacc_orthogonal.hpp>

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Public Member Functions
void	setStateMachine (ISmaccStateMachine *value)
ISmaccStateMachine *	getStateMachine ()
void	initState (ISmaccState *state)
void	addClientBehavior (std::shared_ptr< smacc2::ISmaccClientBehavior > clientBehavior)
void	runtimeConfigure ()
void	onEntry ()
void	onExit ()
void	onDispose ()
virtual std::string	getName () const
template<typename SmaccComponentType >
void	requiresComponent (SmaccComponentType *&storage)
template<typename SmaccClientType >
bool	requiresClient (SmaccClientType *&storage)
const std::vector< std::shared_ptr< smacc2::ISmaccClient > > &	getClients ()
const std::vector< std::vector< std::shared_ptr< smacc2::ISmaccClientBehavior > > > &	getClientBehaviors () const
template<typename T >
void	setGlobalSMData (std::string name, T value)
template<typename T >
bool	getGlobalSMData (std::string name, T &ret)
template<typename TClientBehavior >
TClientBehavior *	getClientBehavior (int index=0)
rclcpp::Node::SharedPtr	getNode ()
rclcpp::Logger	getLogger ()

Protected Member Functions
virtual void	onInitialize ()
void	initializeClients ()
template<typename TOrthogonal , typename TClient >
void	assignClientToOrthogonal (TClient *client)

Protected Attributes
std::vector< std::shared_ptr< smacc2::ISmaccClient > >	clients_

Private Attributes
ISmaccStateMachine *	stateMachine_
std::vector< std::vector< std::shared_ptr< smacc2::ISmaccClientBehavior > > >	clientBehaviors_
std::mutex	mutex_

Friends
class	ISmaccStateMachine

Detailed Description

Definition at line 27 of file smacc_orthogonal.hpp.

Member Function Documentation

addClientBehavior()

void smacc2::ISmaccOrthogonal::addClientBehavior

(

std::shared_ptr< smacc2::ISmaccClientBehavior >

clientBehavior

)

Definition at line 49 of file orthogonal.cpp.

{
  std::lock_guard<std::mutex> lock(this->mutex_);
 
  if (clBehavior != nullptr)
  {
    RCLCPP_INFO(
      getLogger(), "[Orthogonal %s] adding client behavior: %s", this->getName().c_str(),
      clBehavior->getName().c_str());
    clBehavior->stateMachine_ = this->getStateMachine();
    clBehavior->currentOrthogonal = this;
    clBehavior->currentState = clBehavior->stateMachine_->getCurrentState();
 
    clientBehaviors_.back().push_back(clBehavior);
  }
  else
  {
    RCLCPP_INFO(
      getLogger(), "[orthogonal %s] no client behaviors in this state", this->getName().c_str());
  }
}

References clientBehaviors_, getLogger(), getName(), getStateMachine(), and mutex_.

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assignClientToOrthogonal()

template<typename TOrthogonal , typename TClient >

void smacc2::ISmaccOrthogonal::assignClientToOrthogonal ( TClient *  client )

protected

Definition at line 82 of file smacc_orthogonal_impl.hpp.

{
  client->setStateMachine(getStateMachine());
  client->setOrthogonal(this);
 
  client->template onOrthogonalAllocation<TOrthogonal, TClient>();
}

References getStateMachine().

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getClientBehavior()

template<typename TClientBehavior >

TClientBehavior * smacc2::ISmaccOrthogonal::getClientBehavior

(

int

index = 0

)

Definition at line 91 of file smacc_orthogonal_impl.hpp.

{
  int i = 0;
  for (auto & cb : this->clientBehaviors_.back())
  {
    auto * ret = dynamic_cast<TClientBehavior *>(cb.get());
    if (ret != nullptr)
    {
      if (i == index)
        return ret;
      else
        i++;
    }
  }
 
  return nullptr;
}

References clientBehaviors_.

getClientBehaviors()

const std::vector< std::vector< std::shared_ptr< smacc2::ISmaccClientBehavior > > > & smacc2::ISmaccOrthogonal::getClientBehaviors ( ) const

inline

Definition at line 114 of file smacc_orthogonal_impl.hpp.

{
  return this->clientBehaviors_;
}

References clientBehaviors_.

getClients()

const std::vector< std::shared_ptr< smacc2::ISmaccClient > > & smacc2::ISmaccOrthogonal::getClients ( )

inline

Definition at line 108 of file smacc_orthogonal_impl.hpp.

{
  return clients_;
}

References clients_.

getGlobalSMData()

template<typename T >

bool smacc2::ISmaccOrthogonal::getGlobalSMData	(	std::string	name,
		T &	ret
	)

Definition at line 126 of file smacc_orthogonal_impl.hpp.

{
  return this->getStateMachine()->getGlobalSMData(name, ret);
}

References smacc2::ISmaccStateMachine::getGlobalSMData(), and getStateMachine().

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getLogger()

rclcpp::Logger smacc2::ISmaccOrthogonal::getLogger ( )

inline

Definition at line 71 of file smacc_orthogonal.hpp.

{ return getNode()->get_logger(); }

References getNode().

Referenced by addClientBehavior(), smacc2::Orthogonal< TOrthogonal >::createClient(), initState(), onEntry(), onExit(), requiresClient(), requiresComponent(), and runtimeConfigure().

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getName()

std::string smacc2::ISmaccOrthogonal::getName ( ) const

virtual

Definition at line 81 of file orthogonal.cpp.

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

References smacc2::introspection::demangleSymbol().

Referenced by addClientBehavior(), initState(), and runtimeConfigure().

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getNode()

rclcpp::Node::SharedPtr smacc2::ISmaccOrthogonal::getNode

(

)

Definition at line 47 of file orthogonal.cpp.

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

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

Referenced by getLogger().

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getStateMachine()

ISmaccStateMachine * smacc2::ISmaccOrthogonal::getStateMachine ( )

inline

Definition at line 132 of file smacc_orthogonal_impl.hpp.

{ return this->stateMachine_; }

References stateMachine_.

Referenced by addClientBehavior(), assignClientToOrthogonal(), getGlobalSMData(), onDispose(), requiresClient(), and setGlobalSMData().

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initializeClients()

void smacc2::ISmaccOrthogonal::initializeClients ( )

protected

Definition at line 39 of file orthogonal.cpp.

{
  for (auto & c : this->clients_)
  {
    c->initialize();
  }
}

References clients_.

Referenced by setStateMachine().

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initState()

void smacc2::ISmaccOrthogonal::initState

(

ISmaccState *

state

)

Definition at line 73 of file orthogonal.cpp.

{
  RCLCPP_INFO(
    getLogger(), "[Orthogonal %s] initState: %s", this->getName().c_str(),
    state->getClassName().c_str());
  clientBehaviors_.push_back(std::vector<std::shared_ptr<smacc2::ISmaccClientBehavior>>());
}

References clientBehaviors_, smacc2::ISmaccState::getClassName(), getLogger(), and getName().

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onDispose()

void smacc2::ISmaccOrthogonal::onDispose

(

)

Definition at line 165 of file orthogonal.cpp.

{
  for (auto & clBehavior : clientBehaviors_.back())
  {
    clBehavior->dispose();
    this->getStateMachine()->disconnectSmaccSignalObject((void *)clBehavior.get());
  }
 
  clientBehaviors_.back().clear();
  clientBehaviors_.pop_back();
}

References clientBehaviors_, smacc2::ISmaccStateMachine::disconnectSmaccSignalObject(), and getStateMachine().

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onEntry()

void smacc2::ISmaccOrthogonal::onEntry

(

)

Definition at line 97 of file orthogonal.cpp.

{
  std::lock_guard<std::mutex> lock(this->mutex_);
 
  if (clientBehaviors_.back().size() > 0)
  {
    for (auto & clBehavior : clientBehaviors_.back())
    {
      RCLCPP_INFO(
        getLogger(), "[Orthogonal %s] OnEntry, current Behavior: %s", orthogonalName, cbName);
 
      try
      {
        TRACEPOINT(smacc2_client_behavior_on_entry_start, statename, orthogonalName, cbName);
        clBehavior->executeOnEntry();
      }
      catch (const std::exception & e)
      {
        RCLCPP_ERROR(
          getLogger(),
          "[ClientBehavior %s] Exception on Entry - continuing with next client behavior. "
          "Exception info: "
          "%s",
          cbName, e.what());
      }
      TRACEPOINT(smacc2_client_behavior_on_entry_end, statename, orthogonalName, cbName);
    }
  }
  else
  {
    RCLCPP_INFO(
      getLogger(), "[Orthogonal %s] OnEntry -> empty orthogonal (no client behavior) ",
      orthogonalName);
  }
}

References cbName, clientBehaviors_, getLogger(), mutex_, orthogonalName, smacc2_client_behavior_on_entry_end, smacc2_client_behavior_on_entry_start, statename, and TRACEPOINT().

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onExit()

void smacc2::ISmaccOrthogonal::onExit

(

)

Definition at line 133 of file orthogonal.cpp.

{
  std::lock_guard<std::mutex> lock(this->mutex_);
 
  if (clientBehaviors_.back().size() > 0)
  {
    for (auto & clBehavior : clientBehaviors_.back())
    {
      RCLCPP_INFO(
        getLogger(), "[Orthogonal %s] OnExit, current Behavior: %s", orthogonalName, cbName);
      try
      {
        TRACEPOINT(smacc2_client_behavior_on_exit_start, statename, orthogonalName, cbName);
        clBehavior->executeOnExit();
      }
      catch (const std::exception & e)
      {
        RCLCPP_ERROR(
          getLogger(),
          "[ClientBehavior %s] Exception onExit - continuing with next client behavior. Exception "
          "info: %s",
          cbName, e.what());
      }
      TRACEPOINT(smacc2_client_behavior_on_exit_end, statename, orthogonalName, cbName);
    }
  }
  else
  {
    RCLCPP_INFO(getLogger(), "[Orthogonal %s] OnExit", orthogonalName);
  }
}

References cbName, clientBehaviors_, getLogger(), mutex_, orthogonalName, smacc2_client_behavior_on_exit_end, smacc2_client_behavior_on_exit_start, statename, and TRACEPOINT().

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onInitialize()

void smacc2::ISmaccOrthogonal::onInitialize ( )

protectedvirtual

Definition at line 71 of file orthogonal.cpp.

{}

Referenced by setStateMachine().

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requiresClient()

template<typename SmaccClientType >

bool smacc2::ISmaccOrthogonal::requiresClient

(

SmaccClientType *&

storage

)

Definition at line 29 of file smacc_orthogonal_impl.hpp.

{
  for (auto & client : clients_)
  {
    storage = dynamic_cast<SmaccClientType *>(client.get());
    if (storage != nullptr) return true;
  }
 
  auto requiredClientName = demangledTypeName<SmaccClientType>();
  RCLCPP_WARN_STREAM(
    getLogger(), "Required client ["
                   << requiredClientName
                   << "] not found in current orthogonal. Searching in other orthogonals.");
 
  for (auto & orthoentry : this->getStateMachine()->getOrthogonals())
  {
    for (auto & client : orthoentry.second->getClients())
    {
      storage = dynamic_cast<SmaccClientType *>(client.get());
      if (storage != nullptr)
      {
        RCLCPP_WARN_STREAM(
          getLogger(),
          "Required client  [" << requiredClientName << "] found in other orthogonal.");
        return true;
      }
    }
  }
 
  RCLCPP_ERROR_STREAM(
    getLogger(), "Required client ["
                   << requiredClientName
                   << "] not found even in other orthogonals. Returning null pointer. If the "
                      "requested client is used may result in a segmentation fault.");
  return false;
}

References clients_, getLogger(), and getStateMachine().

Referenced by smacc2::ISmaccClient::requiresClient(), and smacc2::ISmaccClientBehavior::requiresClient().

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requiresComponent()

template<typename SmaccComponentType >

void smacc2::ISmaccOrthogonal::requiresComponent

(

SmaccComponentType *&

storage

)

Definition at line 67 of file smacc_orthogonal_impl.hpp.

{
  if (stateMachine_ == nullptr)
  {
    RCLCPP_ERROR(
      getLogger(),
      "Cannot use the requiresComponent funcionality from an orthogonal before onInitialize");
  }
  else
  {
    stateMachine_->requiresComponent(storage);
  }
}

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

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runtimeConfigure()

void smacc2::ISmaccOrthogonal::runtimeConfigure

(

)

Definition at line 83 of file orthogonal.cpp.

{
  std::lock_guard<std::mutex> lock(this->mutex_);
 
  for (auto & clBehavior : clientBehaviors_.back())
  {
    RCLCPP_INFO(
      getLogger(), "[Orthogonal %s] runtimeConfigure, current Behavior: %s",
      this->getName().c_str(), clBehavior->getName().c_str());
 
    clBehavior->runtimeConfigure();
  }
}

References clientBehaviors_, getLogger(), getName(), and mutex_.

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setGlobalSMData()

template<typename T >

void smacc2::ISmaccOrthogonal::setGlobalSMData	(	std::string	name,
		T	value
	)

Definition at line 120 of file smacc_orthogonal_impl.hpp.

{
  this->getStateMachine()->setGlobalSMData(name, value);
}

References getStateMachine(), and smacc2::ISmaccStateMachine::setGlobalSMData().

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setStateMachine()

void smacc2::ISmaccOrthogonal::setStateMachine

(

ISmaccStateMachine *

value

)

Definition at line 32 of file orthogonal.cpp.

{
  this->stateMachine_ = value;
  this->onInitialize();
  this->initializeClients();
}

References initializeClients(), onInitialize(), and stateMachine_.

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Friends And Related Function Documentation

ISmaccStateMachine

friend class ISmaccStateMachine

friend

Definition at line 87 of file smacc_orthogonal.hpp.

Member Data Documentation

clientBehaviors_

std::vector<std::vector<std::shared_ptr<smacc2::ISmaccClientBehavior> > > smacc2::ISmaccOrthogonal::clientBehaviors_

private

Definition at line 86 of file smacc_orthogonal.hpp.

Referenced by addClientBehavior(), getClientBehavior(), getClientBehaviors(), initState(), onDispose(), onEntry(), onExit(), and runtimeConfigure().

clients_

std::vector<std::shared_ptr<smacc2::ISmaccClient> > smacc2::ISmaccOrthogonal::clients_

protected

Definition at line 81 of file smacc_orthogonal.hpp.

Referenced by smacc2::Orthogonal< TOrthogonal >::createClient(), getClients(), initializeClients(), and requiresClient().

mutex_

std::mutex smacc2::ISmaccOrthogonal::mutex_

private

Definition at line 89 of file smacc_orthogonal.hpp.

Referenced by addClientBehavior(), onEntry(), onExit(), and runtimeConfigure().

stateMachine_

ISmaccStateMachine* smacc2::ISmaccOrthogonal::stateMachine_

private

Definition at line 84 of file smacc_orthogonal.hpp.

Referenced by getNode(), getStateMachine(), requiresComponent(), and setStateMachine().

---

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

• smacc2/include/smacc2/smacc_orthogonal.hpp
• smacc2/include/smacc2/impl/smacc_orthogonal_impl.hpp
• smacc2/src/smacc2/orthogonal.cpp