smacc_orthogonal.hpp

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// Copyright 2021 RobosoftAI Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
/*****************************************************************************************************************
 *
 *   Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 ******************************************************************************************************************/
 
#pragma once
#include <smacc2/common.hpp>
#include <utility>
 
namespace smacc2
{
class ISmaccOrthogonal
{
public:
  void setStateMachine(ISmaccStateMachine * value);
 
  inline 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);
 
  inline const std::vector<std::shared_ptr<smacc2::ISmaccClient>> & getClients();
 
  inline 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);
 
  // returns a client behavior of a given type. If the client behavior is not found, it returns nullptr
  // the index parameter is used to specify the client behavior in case there are more than one
  template <typename TClientBehavior>
  TClientBehavior * getClientBehavior(int index = 0);
 
  rclcpp::Node::SharedPtr getNode();
  inline rclcpp::Logger getLogger() { return getNode()->get_logger(); }
 
protected:
  virtual void onInitialize();
 
  void initializeClients();
 
  template <typename TOrthogonal, typename TClient>
  void assignClientToOrthogonal(TClient * client);
 
  std::vector<std::shared_ptr<smacc2::ISmaccClient>> clients_;
 
private:
  ISmaccStateMachine * stateMachine_;
 
  std::vector<std::vector<std::shared_ptr<smacc2::ISmaccClientBehavior>>> clientBehaviors_;
  friend class ISmaccStateMachine;
 
  std::mutex mutex_;
};
 
}  // namespace smacc2