smacc2::introspection::StateReactorHandler Class Reference

#include <smacc_state_info.hpp>

Collaboration diagram for smacc2::introspection::StateReactorHandler:

Public Member Functions
	StateReactorHandler (rclcpp::Node::SharedPtr nh)
void	configureStateReactor (std::shared_ptr< smacc2::StateReactor > sr)
template<typename TEv >
void	addInputEvent ()
template<typename TEv >
void	setOutputEvent ()
rclcpp::Node::SharedPtr	getNode ()

Public Attributes
std::shared_ptr< smacc2::introspection::SmaccStateReactorInfo >	srInfo_

Private Attributes
std::vector< StateReactorCallbackFunctor >	callbacks_
rclcpp::Node::SharedPtr	nh_

Detailed Description

Definition at line 83 of file smacc_state_info.hpp.

Constructor & Destructor Documentation

StateReactorHandler()

smacc2::introspection::StateReactorHandler::StateReactorHandler ( rclcpp::Node::SharedPtr  nh )

inline

Definition at line 89 of file smacc_state_info.hpp.

: nh_(nh) {}

Member Function Documentation

addInputEvent()

template<typename TEv >

void smacc2::introspection::StateReactorHandler::addInputEvent

Definition at line 82 of file smacc_state_reactor_impl.hpp.

{
  StateReactorCallbackFunctor functor;
  functor.fn = [this](std::shared_ptr<smacc2::StateReactor> sr)
  {
    RCLCPP_INFO(
      nh_->get_logger(), "[%s] State Reactor adding input event: %s",
      srInfo_->stateReactorType->getFullName().c_str(), demangledTypeName<TEv>().c_str());
    sr->addInputEvent<TEv>();
  };
 
  this->callbacks_.push_back(functor);
 
  auto evtype = TypeInfo::getFromStdTypeInfo(typeid(TEv));
  auto evinfo = std::make_shared<SmaccEventInfo>(evtype);
  EventLabel<TEv>(evinfo->label);
 
  srInfo_->sourceEventTypes.push_back(evinfo);
}

References callbacks_, smacc2::introspection::StateReactorCallbackFunctor::fn, smacc2::introspection::TypeInfo::getFromStdTypeInfo(), nh_, and srInfo_.

Here is the call graph for this function:

configureStateReactor()

void smacc2::introspection::StateReactorHandler::configureStateReactor

(

std::shared_ptr< smacc2::StateReactor >

sr

)

Definition at line 62 of file state_reactor.cpp.

{
  for (auto callback : this->callbacks_)
  {
    callback.fn(sb);
  }
}

References callbacks_.

getNode()

rclcpp::Node::SharedPtr smacc2::introspection::StateReactorHandler::getNode

(

)

setOutputEvent()

template<typename TEv >

void smacc2::introspection::StateReactorHandler::setOutputEvent

Definition at line 103 of file smacc_state_reactor_impl.hpp.

{
  StateReactorCallbackFunctor functor;
  functor.fn = [this](std::shared_ptr<smacc2::StateReactor> sr)
  {
    RCLCPP_INFO(
      nh_->get_logger(), "[%s] State Reactor setting output event: %s",
      srInfo_->stateReactorType->getFullName().c_str(), demangledTypeName<TEv>().c_str());
    sr->setOutputEvent<TEv>();
  };
 
  this->callbacks_.push_back(functor);
}

References callbacks_, smacc2::introspection::StateReactorCallbackFunctor::fn, nh_, and srInfo_.

Member Data Documentation

callbacks_

std::vector<StateReactorCallbackFunctor> smacc2::introspection::StateReactorHandler::callbacks_

private

Definition at line 86 of file smacc_state_info.hpp.

Referenced by addInputEvent(), configureStateReactor(), and setOutputEvent().

nh_

rclcpp::Node::SharedPtr smacc2::introspection::StateReactorHandler::nh_

private

Definition at line 104 of file smacc_state_info.hpp.

Referenced by addInputEvent(), and setOutputEvent().

srInfo_

std::shared_ptr<smacc2::introspection::SmaccStateReactorInfo> smacc2::introspection::StateReactorHandler::srInfo_

Definition at line 101 of file smacc_state_info.hpp.

Referenced by addInputEvent(), and setOutputEvent().

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

• smacc2/include/smacc2/introspection/smacc_state_info.hpp
• smacc2/include/smacc2/impl/smacc_state_reactor_impl.hpp
• smacc2/src/smacc2/state_reactor.cpp