cl_ros2_timer::CbTimerCountdownLoop Class Reference

#include <cb_timer_countdown_loop.hpp>

Inheritance diagram for cl_ros2_timer::CbTimerCountdownLoop:

Collaboration diagram for cl_ros2_timer::CbTimerCountdownLoop:

Public Member Functions
	CbTimerCountdownLoop (int64_t triggerTickCount)
void	onEntry () override
void	onExit () override
template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()
template<typename T >
boost::signals2::connection	onTimerTick (void(T::*callback)(), T *object)
Public Member Functions inherited from smacc2::SmaccClientBehavior
virtual	~SmaccClientBehavior ()
void	onEntry () override
void	onExit () override
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)
template<typename SmaccComponentType >
void	requiresComponent (SmaccComponentType *&storage, ComponentRequirement requirementType=ComponentRequirement::SOFT)
virtual void	executeOnEntry ()
virtual void	executeOnExit ()

Private Member Functions
void	onClientTimerTickCallback ()

Private Attributes
int64_t	tickTriggerCount_
int64_t	tickCounter_
ClRos2Timer *	timerClient_
std::function< void()>	postCountDownEvent_
smacc2::SmaccSignal< void()>	onTimerTick_

Additional Inherited Members
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 22 of file cb_timer_countdown_loop.hpp.

Constructor & Destructor Documentation

CbTimerCountdownLoop()

cl_ros2_timer::CbTimerCountdownLoop::CbTimerCountdownLoop ( int64_t triggerTickCount )

inlineexplicit

Definition at line 25 of file cb_timer_countdown_loop.hpp.

  : tickTriggerCount_(triggerTickCount), tickCounter_(0)
  {
  }

Member Function Documentation

onClientTimerTickCallback()

void cl_ros2_timer::CbTimerCountdownLoop::onClientTimerTickCallback ( )

inlineprivate

Definition at line 64 of file cb_timer_countdown_loop.hpp.

  {
    tickCounter_++;
 
    if (tickCounter_ % tickTriggerCount_ == 0)
    {
      onTimerTick_();
      postCountDownEvent_();
    }
  }

References onTimerTick_, postCountDownEvent_, tickCounter_, and tickTriggerCount_.

Referenced by onEntry().

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onEntry()

void cl_ros2_timer::CbTimerCountdownLoop::onEntry ( )

inlineoverridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 30 of file cb_timer_countdown_loop.hpp.

  {
    this->requiresClient(timerClient_);
 
    // Get the core timer component
    smacc2::client_core_components::CpRos2Timer * timerComponent;
    this->requiresComponent(timerComponent);
 
    // Connect to the core timer component
    timerComponent->onTimerTick(&CbTimerCountdownLoop::onClientTimerTickCallback, this);
  }

References onClientTimerTickCallback(), smacc2::client_core_components::CpRos2Timer::onTimerTick(), smacc2::ISmaccClientBehavior::requiresClient(), smacc2::ISmaccClientBehavior::requiresComponent(), and timerClient_.

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onExit()

void cl_ros2_timer::CbTimerCountdownLoop::onExit ( )

inlineoverridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 42 of file cb_timer_countdown_loop.hpp.

{}

onStateOrthogonalAllocation()

template<typename TOrthogonal , typename TSourceObject >

void cl_ros2_timer::CbTimerCountdownLoop::onStateOrthogonalAllocation ( )

inline

Definition at line 45 of file cb_timer_countdown_loop.hpp.

  {
    this->postCountDownEvent_ = [=]()
    { this->template postEvent<EvTimer<TSourceObject, TOrthogonal>>(); };
  }

References postCountDownEvent_, and smacc2::ISmaccClientBehavior::postEvent().

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onTimerTick()

template<typename T >

boost::signals2::connection cl_ros2_timer::CbTimerCountdownLoop::onTimerTick ( void(T::* callback )(), T * object )

inline

Definition at line 52 of file cb_timer_countdown_loop.hpp.

  {
    return this->getStateMachine()->createSignalConnection(onTimerTick_, callback, object);
  }

References smacc2::ISmaccStateMachine::createSignalConnection(), smacc2::ISmaccClientBehavior::getStateMachine(), and onTimerTick_.

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Member Data Documentation

onTimerTick_

smacc2::SmaccSignal<void()> cl_ros2_timer::CbTimerCountdownLoop::onTimerTick_

private

Definition at line 63 of file cb_timer_countdown_loop.hpp.

Referenced by onClientTimerTickCallback(), and onTimerTick().

postCountDownEvent_

std::function<void()> cl_ros2_timer::CbTimerCountdownLoop::postCountDownEvent_

private

Definition at line 62 of file cb_timer_countdown_loop.hpp.

Referenced by onClientTimerTickCallback(), and onStateOrthogonalAllocation().

tickCounter_

int64_t cl_ros2_timer::CbTimerCountdownLoop::tickCounter_

private

Definition at line 59 of file cb_timer_countdown_loop.hpp.

Referenced by onClientTimerTickCallback().

tickTriggerCount_

int64_t cl_ros2_timer::CbTimerCountdownLoop::tickTriggerCount_

private

Definition at line 58 of file cb_timer_countdown_loop.hpp.

Referenced by onClientTimerTickCallback().

timerClient_

ClRos2Timer* cl_ros2_timer::CbTimerCountdownLoop::timerClient_

private

Definition at line 61 of file cb_timer_countdown_loop.hpp.

Referenced by onEntry().

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

• smacc2_client_library/cl_ros2_timer/include/cl_ros2_timer/client_behaviors/cb_timer_countdown_loop.hpp