smacc2::client_behaviors::CbRosLaunch Class Reference

#include <cb_ros_launch.hpp>

Inheritance diagram for smacc2::client_behaviors::CbRosLaunch:

Collaboration diagram for smacc2::client_behaviors::CbRosLaunch:

Public Member Functions
	CbRosLaunch ()
virtual	~CbRosLaunch ()
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
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 ()

Public Attributes
std::optional< std::string >	packageName_
std::optional< std::string >	launchFileName_

Protected Attributes
std::string	result_
smacc2::client_bases::ClRosLaunch *	client_

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 29 of file cb_ros_launch.hpp.

Constructor & Destructor Documentation

CbRosLaunch()

smacc2::client_behaviors::CbRosLaunch::CbRosLaunch

(

)

Definition at line 26 of file cb_ros_launch.cpp.

{}

~CbRosLaunch()

smacc2::client_behaviors::CbRosLaunch::~CbRosLaunch ( )

virtual

Definition at line 33 of file cb_ros_launch.cpp.

{}

Member Function Documentation

onEntry()

void smacc2::client_behaviors::CbRosLaunch::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 41 of file cb_ros_launch.cpp.

{
  RCLCPP_INFO_STREAM(getLogger(), "[CbRosLaunch] OnEntry");
 
  std::string packageName, launchFileName;
  if (launchFileName_ && packageName_)
  {
    RCLCPP_INFO_STREAM(
      getLogger(), "[CbRosLaunch] launching: " << *packageName_ << " , " << *launchFileName_);
    smacc2::client_bases::ClRosLaunch::executeRosLaunch(
      *packageName_, *launchFileName_, [this]() { return this->isShutdownRequested(); });
  }
  else
  {
    RCLCPP_INFO_STREAM(getLogger(), "[CbRosLaunch] finding Ros Launch client");
 
    this->requiresClient(client_);
    if (client_ != nullptr)
    {
      RCLCPP_INFO_STREAM(
        getLogger(), "[CbRosLaunch] launching from client: " << client_->packageName_ << " , "
                                                             << client_->launchFileName_);
 
      client_->launch();
    }
    else
    {
      RCLCPP_ERROR(
        getLogger(),
        "[CbRosLaunch] Inccorrect ros launch operation. No Ros Launch client specified neither "
        "package/roslaunch file path.");
    }
  }
}

References client_, smacc2::client_bases::ClRosLaunch::executeRosLaunch(), smacc2::ISmaccClientBehavior::getLogger(), smacc2::SmaccAsyncClientBehavior::isShutdownRequested(), smacc2::client_bases::ClRosLaunch::launch(), smacc2::client_bases::ClRosLaunch::launchFileName_, launchFileName_, smacc2::client_bases::ClRosLaunch::packageName_, packageName_, and smacc2::ISmaccClientBehavior::requiresClient().

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onOrthogonalAllocation()

template<typename TOrthogonal , typename TSourceObject >

void smacc2::client_behaviors::CbRosLaunch::onOrthogonalAllocation ( )

inline

Definition at line 39 of file cb_ros_launch.hpp.

  {
    smacc2::SmaccAsyncClientBehavior::onOrthogonalAllocation<TOrthogonal, TSourceObject>();
  }

Member Data Documentation

client_

smacc2::client_bases::ClRosLaunch* smacc2::client_behaviors::CbRosLaunch::client_

protected

Definition at line 52 of file cb_ros_launch.hpp.

Referenced by onEntry().

launchFileName_

std::optional<std::string> smacc2::client_behaviors::CbRosLaunch::launchFileName_

Definition at line 47 of file cb_ros_launch.hpp.

Referenced by onEntry().

packageName_

std::optional<std::string> smacc2::client_behaviors::CbRosLaunch::packageName_

Definition at line 46 of file cb_ros_launch.hpp.

Referenced by onEntry().

result_

std::string smacc2::client_behaviors::CbRosLaunch::result_

protected

Definition at line 50 of file cb_ros_launch.hpp.

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

• smacc2/include/smacc2/client_behaviors/cb_ros_launch.hpp
• smacc2/src/smacc2/client_behaviors/cb_ros_launch.cpp