#include <cb_resume_slam.hpp>

Inheritance diagram for cl_nav2z::CbResumeSlam:

Collaboration diagram for cl_nav2z::CbResumeSlam:

Public Member Functions
	CbResumeSlam (std::string serviceName="/slam_toolbox/pause_new_measurements")

void	onEntry () override

Public Member Functions inherited from smacc2::client_behaviors::CbServiceCall< slam_toolbox::srv::Pause >
	CbServiceCall (const char *serviceName)

	CbServiceCall (const char *serviceName, std::shared_ptr< typename ServiceType::Request > request, std::chrono::milliseconds pollRate=100ms)

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	onExit ()

Protected Attributes
CpSlamToolbox *	slam_

Protected Attributes inherited from smacc2::client_behaviors::CbServiceCall< slam_toolbox::srv::Pause >
std::shared_ptr< rclcpp::Client< slam_toolbox::srv::Pause > >	client_

std::string	serviceName_

std::shared_ptr< typename ServiceType::Request >	request_

Additional Inherited Members
Public Attributes inherited from smacc2::client_behaviors::CbServiceCall< slam_toolbox::srv::Pause >
std::shared_future< std::shared_ptr< typename ServiceType::Response > >	resultFuture_

std::shared_ptr< typename ServiceType::Response >	result_

std::chrono::milliseconds	pollRate_

Protected Member Functions inherited from smacc2::client_behaviors::CbServiceCall< slam_toolbox::srv::Pause >
virtual void	onServiceResponse (std::shared_ptr< typename ServiceType::Response >)

Protected Member Functions inherited from smacc2::SmaccAsyncClientBehavior
void	postSuccessEvent ()

void	postFailureEvent ()

virtual void	dispose () override

bool	isShutdownRequested ()
	onEntry is executed in a new thread. However the current state cannot be left until the onEntry thread finishes. This flag can be checked from the onEntry thread to force finishing the thread.

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 rclcpp::Node::SharedPtr	getNode () const

virtual rclcpp::Logger	getLogger () const

Detailed Description

Definition at line 28 of file cb_resume_slam.hpp.

Constructor & Destructor Documentation

◆ CbResumeSlam()

cl_nav2z::CbResumeSlam::CbResumeSlam ( std::string serviceName = "/slam_toolbox/pause_new_measurements" )

Definition at line 24 of file cb_resume_slam.cpp.

: smacc2::client_behaviors::CbServiceCall<slam_toolbox::srv::Pause>(serviceName.c_str())
{
}

Member Function Documentation

◆ onEntry()

void cl_nav2z::CbResumeSlam::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 29 of file cb_resume_slam.cpp.

{
  this->requiresComponent(this->slam_);
 
  auto currentState = slam_->getState();
 
  if (currentState == CpSlamToolbox::SlamToolboxState::Paused)
  {
    RCLCPP_INFO(
      getLogger(), "[CbResumeSlam] calling pause service to toggle from paused to resumed");
    this->request_ = std::make_shared<slam_toolbox::srv::Pause::Request>();
    smacc2::client_behaviors::CbServiceCall<slam_toolbox::srv::Pause>::onEntry();
    this->slam_->toogleState();
  }
  else
  {
    this->request_ = nullptr;
    RCLCPP_INFO(
      getLogger(), "[CbResumeSlam] calling skipped. The current slam state is already resumed.");
  }
}

References smacc2::ISmaccClientBehavior::currentState, smacc2::ISmaccClientBehavior::getLogger(), cl_nav2z::CpSlamToolbox::getState(), smacc2::client_behaviors::CbServiceCall< ServiceType >::onEntry(), cl_nav2z::CpSlamToolbox::Paused, smacc2::client_behaviors::CbServiceCall< slam_toolbox::srv::Pause >::request_, smacc2::ISmaccClientBehavior::requiresComponent(), slam_, and cl_nav2z::CpSlamToolbox::toogleState().

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Member Data Documentation

◆ slam_

CpSlamToolbox* cl_nav2z::CbResumeSlam::slam_

protected

Definition at line 35 of file cb_resume_slam.hpp.

Referenced by onEntry().

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

smacc2_client_library/nav2z_client/nav2z_client/include/nav2z_client/client_behaviors/cb_resume_slam.hpp
smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/client_behaviors/cb_resume_slam.cpp

Public Member Functions

Protected Attributes