cl_keyboard::ClKeyboard Class Reference

#include <cl_keyboard.hpp>

Inheritance diagram for cl_keyboard::ClKeyboard:

Collaboration diagram for cl_keyboard::ClKeyboard:

Public Member Functions
	ClKeyboard ()
virtual	~ClKeyboard ()
virtual void	onInitialize () override
template<typename T >
void	OnKeyPress (void(T::*callback)(char keypress), T *object)
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
void	onKeyboardMessage (const std_msgs::msg::UInt16 &unicode_keychar)
template<typename TEv >
void	postKeyEvent ()
Public Member Functions inherited from smacc2::client_bases::SmaccSubscriberClient< std_msgs::msg::UInt16 >
	SmaccSubscriberClient ()
	SmaccSubscriberClient (std::string topicname)
virtual	~SmaccSubscriberClient ()
boost::signals2::connection	onMessageReceived (void(T::*callback)(const std_msgs::msg::UInt16 &), T *object)
boost::signals2::connection	onFirstMessageReceived (void(T::*callback)(const std_msgs::msg::UInt16 &), T *object)
void	onOrthogonalAllocation ()
Public Member Functions inherited from smacc2::ISmaccClient
	ISmaccClient ()
virtual	~ISmaccClient ()
virtual std::string	getName () const
template<typename TComponent >
TComponent *	getComponent ()
template<typename TComponent >
TComponent *	getComponent (std::string name)
template<typename TComponent >
TComponent *	getComponent (int index)
virtual smacc2::introspection::TypeInfo::Ptr	getType ()
ISmaccStateMachine *	getStateMachine ()
template<typename TSmaccSignal , typename T >
void	connectSignal (TSmaccSignal &signal, void(T::*callback)(), T *object)
template<typename SmaccClientType >
void	requiresClient (SmaccClientType *&storage)
void	getComponents (std::vector< std::shared_ptr< ISmaccComponent > > &components)
const std::vector< std::shared_ptr< ISmaccComponent > > &	iterateComponents () const
template<typename EventType >
void	postEvent (const EventType &ev)
template<typename EventType >
void	postEvent ()

Public Attributes
smacc2::SmaccSignal< void(char keypress)>	OnKeyPress_
std::function< void(std_msgs::msg::UInt16)>	postEventKeyPress
Public Attributes inherited from smacc2::client_bases::SmaccSubscriberClient< std_msgs::msg::UInt16 >
std::optional< std::string >	topicName
std::optional< int >	queueSize
smacc2::SmaccSignal< void(const std_msgs::msg::UInt16 &)>	onFirstMessageReceived_
smacc2::SmaccSignal< void(const std_msgs::msg::UInt16 &)>	onMessageReceived_
std::function< void(const std_msgs::msg::UInt16 &)>	postMessageEvent
std::function< void(const std_msgs::msg::UInt16 &)>	postInitialMessageEvent

Private Attributes
bool	initialized_

Additional Inherited Members
Public Types inherited from smacc2::client_bases::SmaccSubscriberClient< std_msgs::msg::UInt16 >
typedef std_msgs::msg::UInt16	TMessageType
Protected Member Functions inherited from smacc2::client_bases::SmaccSubscriberClient< std_msgs::msg::UInt16 >
void	onInitialize () override
Protected Member Functions inherited from smacc2::ISmaccClient
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createComponent (TArgs... targs)
template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createNamedComponent (std::string name, TArgs... targs)
rclcpp::Node::SharedPtr	getNode ()
rclcpp::Logger	getLogger ()
Protected Attributes inherited from smacc2::ISmaccClient
std::map< ComponentKey, std::shared_ptr< smacc2::ISmaccComponent > >	components_

Detailed Description

Definition at line 162 of file cl_keyboard.hpp.

Constructor & Destructor Documentation

ClKeyboard()

cl_keyboard::ClKeyboard::ClKeyboard

(

)

Definition at line 25 of file cl_keyboard.cpp.

{
  initialized_ = false;
  topicName = "/keyboard_unicode";
}

References initialized_, and smacc2::client_bases::SmaccSubscriberClient< std_msgs::msg::UInt16 >::topicName.

~ClKeyboard()

cl_keyboard::ClKeyboard::~ClKeyboard ( )

virtual

Definition at line 31 of file cl_keyboard.cpp.

{}

Member Function Documentation

onInitialize()

void cl_keyboard::ClKeyboard::onInitialize ( )

overridevirtual

Reimplemented from smacc2::ISmaccClient.

Definition at line 33 of file cl_keyboard.cpp.

{
  SmaccSubscriberClient<std_msgs::msg::UInt16>::onInitialize();
 
  if (!this->initialized_)
  {
    this->onMessageReceived(&ClKeyboard::onKeyboardMessage, this);
    this->initialized_ = true;
  }
}

References initialized_, onKeyboardMessage(), and smacc2::client_bases::SmaccSubscriberClient< std_msgs::msg::UInt16 >::onMessageReceived().

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onKeyboardMessage()

void cl_keyboard::ClKeyboard::onKeyboardMessage

(

const std_msgs::msg::UInt16 &

unicode_keychar

)

Definition at line 44 of file cl_keyboard.cpp.

{
  postEventKeyPress(unicode_keychar);
}

References postEventKeyPress.

Referenced by onInitialize().

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OnKeyPress()

template<typename T >

void cl_keyboard::ClKeyboard::OnKeyPress ( void(T::* callback )(char keypress), T * object )

inline

Definition at line 172 of file cl_keyboard.hpp.

  {
    //this->connectSignal(OnKeyPress_, callback, object);
    this->getStateMachine()->createSignalConnection(OnKeyPress_, callback, object);
  }

References smacc2::ISmaccStateMachine::createSignalConnection(), and smacc2::ISmaccClient::getStateMachine().

Referenced by cl_keyboard::CbDefaultKeyboardBehavior::onEntry().

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onOrthogonalAllocation()

template<typename TOrthogonal , typename TSourceObject >

void cl_keyboard::ClKeyboard::onOrthogonalAllocation ( )

inline

Definition at line 181 of file cl_keyboard.hpp.

  {
    // call to the base configuration to properly handling the message and initial message smacc events
    smacc2::client_bases::SmaccSubscriberClient<std_msgs::msg::UInt16>::onOrthogonalAllocation<
      TOrthogonal, TSourceObject>();
 
    postEventKeyPress = [=](auto unicode_keychar)
    {
      char character = (char)unicode_keychar.data;
      RCLCPP_WARN(getLogger(), "detected keyboard: %c", character);
 
      if (character == 'a')
        this->postKeyEvent<EvKeyPressA<ClKeyboard, TOrthogonal>>();
      else if (character == 'b')
        this->postKeyEvent<EvKeyPressB<ClKeyboard, TOrthogonal>>();
      else if (character == 'c')
        this->postKeyEvent<EvKeyPressC<ClKeyboard, TOrthogonal>>();
      else if (character == 'd')
        this->postKeyEvent<EvKeyPressD<ClKeyboard, TOrthogonal>>();
      else if (character == 'e')
        this->postKeyEvent<EvKeyPressE<ClKeyboard, TOrthogonal>>();
      else if (character == 'f')
        this->postKeyEvent<EvKeyPressF<ClKeyboard, TOrthogonal>>();
      else if (character == 'g')
        this->postKeyEvent<EvKeyPressG<ClKeyboard, TOrthogonal>>();
      else if (character == 'h')
        this->postKeyEvent<EvKeyPressH<ClKeyboard, TOrthogonal>>();
      else if (character == 'y')
        this->postKeyEvent<EvKeyPressI<ClKeyboard, TOrthogonal>>();
      else if (character == 'j')
        this->postKeyEvent<EvKeyPressJ<ClKeyboard, TOrthogonal>>();
      else if (character == 'k')
        this->postKeyEvent<EvKeyPressK<ClKeyboard, TOrthogonal>>();
      else if (character == 'l')
        this->postKeyEvent<EvKeyPressL<ClKeyboard, TOrthogonal>>();
      else if (character == 'm')
        this->postKeyEvent<EvKeyPressM<ClKeyboard, TOrthogonal>>();
      else if (character == 'n')
        this->postKeyEvent<EvKeyPressN<ClKeyboard, TOrthogonal>>();
      else if (character == 'o')
        this->postKeyEvent<EvKeyPressO<ClKeyboard, TOrthogonal>>();
      else if (character == 'p')
        this->postKeyEvent<EvKeyPressP<ClKeyboard, TOrthogonal>>();
      else if (character == 'q')
        this->postKeyEvent<EvKeyPressQ<ClKeyboard, TOrthogonal>>();
      else if (character == 'r')
        this->postKeyEvent<EvKeyPressR<ClKeyboard, TOrthogonal>>();
      else if (character == 's')
        this->postKeyEvent<EvKeyPressS<ClKeyboard, TOrthogonal>>();
      else if (character == 't')
        this->postKeyEvent<EvKeyPressT<ClKeyboard, TOrthogonal>>();
      else if (character == 'u')
        this->postKeyEvent<EvKeyPressU<ClKeyboard, TOrthogonal>>();
      else if (character == 'v')
        this->postKeyEvent<EvKeyPressV<ClKeyboard, TOrthogonal>>();
      else if (character == 'w')
        this->postKeyEvent<EvKeyPressW<ClKeyboard, TOrthogonal>>();
      else if (character == 'x')
        this->postKeyEvent<EvKeyPressX<ClKeyboard, TOrthogonal>>();
      else if (character == 'y')
        this->postKeyEvent<EvKeyPressY<ClKeyboard, TOrthogonal>>();
      else if (character == 'z')
        this->postKeyEvent<EvKeyPressZ<ClKeyboard, TOrthogonal>>();
      OnKeyPress_(character); /*  */
    };
  }

References smacc2::ISmaccClient::getLogger(), OnKeyPress_, postEventKeyPress, and postKeyEvent().

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postKeyEvent()

template<typename TEv >

void cl_keyboard::ClKeyboard::postKeyEvent ( )

inline

Definition at line 251 of file cl_keyboard.hpp.

  {
    RCLCPP_WARN(
      getLogger(), "ClKeyboard ev: %s", smacc2::demangleSymbol(typeid(TEv).name()).c_str());
    this->postEvent<TEv>();
  }

References smacc2::introspection::demangleSymbol(), smacc2::ISmaccClient::getLogger(), and smacc2::ISmaccClient::postEvent().

Referenced by onOrthogonalAllocation().

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Member Data Documentation

initialized_

bool cl_keyboard::ClKeyboard::initialized_

private

Definition at line 259 of file cl_keyboard.hpp.

Referenced by ClKeyboard(), and onInitialize().

OnKeyPress_

smacc2::SmaccSignal<void(char keypress)> cl_keyboard::ClKeyboard::OnKeyPress_

Definition at line 169 of file cl_keyboard.hpp.

Referenced by onOrthogonalAllocation().

postEventKeyPress

std::function<void(std_msgs::msg::UInt16)> cl_keyboard::ClKeyboard::postEventKeyPress

Definition at line 178 of file cl_keyboard.hpp.

Referenced by onKeyboardMessage(), and onOrthogonalAllocation().

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

• smacc2_client_library/keyboard_client/include/keyboard_client/cl_keyboard.hpp
• smacc2_client_library/keyboard_client/src/keyboard_client/cl_keyboard.cpp