smacc2::ISmaccClient Class Reference

#include <smacc_client.hpp>

Inheritance diagram for smacc2::ISmaccClient:

Collaboration diagram for smacc2::ISmaccClient:

Public Member Functions
	ISmaccClient ()
virtual	~ISmaccClient ()
virtual void	onInitialize ()
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 ()

Protected Member Functions
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
std::map< ComponentKey, std::shared_ptr< smacc2::ISmaccComponent > >	components_

Private Member Functions
void	initialize ()
void	setStateMachine (ISmaccStateMachine *stateMachine)
void	setOrthogonal (ISmaccOrthogonal *orthogonal)

Private Attributes
ISmaccStateMachine *	stateMachine_
ISmaccOrthogonal *	orthogonal_

Friends
class	ISmaccOrthogonal
class	ISmaccComponent

Detailed Description

Definition at line 44 of file smacc_client.hpp.

Constructor & Destructor Documentation

ISmaccClient()

smacc2::ISmaccClient::ISmaccClient

(

)

Definition at line 26 of file client.cpp.

{}

~ISmaccClient()

smacc2::ISmaccClient::~ISmaccClient ( )

virtual

Definition at line 28 of file client.cpp.

{}

Member Function Documentation

connectSignal()

template<typename TSmaccSignal , typename T >

void smacc2::ISmaccClient::connectSignal	(	TSmaccSignal &	signal,
		void(T::*)()	callback,
		T *	object
	)

Definition at line 138 of file smacc_client_impl.hpp.

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

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

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createComponent()

template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>

SmaccComponentType * smacc2::ISmaccClient::createComponent ( TArgs...  targs )

protected

Definition at line 131 of file smacc_client_impl.hpp.

{
  return this->createNamedComponent<SmaccComponentType, TOrthogonal, TClient>(
    std::string(), targs...);
}

Referenced by smacc2::ClientHandler< TOrthogonal, TClient >::createComponent(), and smacc2::ISmaccComponent::createSiblingComponent().

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createNamedComponent()

template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>

SmaccComponentType * smacc2::ISmaccClient::createNamedComponent ( std::string  name, TArgs...  targs  )

protected

Definition at line 91 of file smacc_client_impl.hpp.

{
  ComponentKey componentkey(&typeid(SmaccComponentType), name);
 
  std::shared_ptr<SmaccComponentType> ret;
 
  auto it = this->components_.find(componentkey);
 
  if (it == this->components_.end())
  {
    auto tname = demangledTypeName<SmaccComponentType>();
    RCLCPP_INFO(
      getLogger(),
      "Creating a new component of type %s smacc component is required by client '%s'. Creating a "
      "new instance %s",
      this->getName().c_str(), demangledTypeName<SmaccComponentType>().c_str(), tname.c_str());
 
    ret = std::shared_ptr<SmaccComponentType>(new SmaccComponentType(targs...));
    ret->setStateMachine(this->getStateMachine());
    ret->owner_ = this;
    ret->initialize(this);
 
    this->components_[componentkey] =
      ret;  //std::dynamic_pointer_cast<smacc2::ISmaccComponent>(ret);
    RCLCPP_DEBUG(getLogger(), "%s resource is required. Done.", tname.c_str());
  }
  else
  {
    RCLCPP_INFO(
      getLogger(), "%s resource is required. Found resource in cache.",
      demangledTypeName<SmaccComponentType>().c_str());
    ret = dynamic_pointer_cast<SmaccComponentType>(it->second);
  }
 
  ret->template onOrthogonalAllocation<TOrthogonal, TClient>();
 
  return ret.get();
}

References components_, getLogger(), getName(), and getStateMachine().

Referenced by smacc2::ClientHandler< TOrthogonal, TClient >::createNamedComponent(), and smacc2::ISmaccComponent::createSiblingNamedComponent().

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getComponent() [1/3]

template<typename TComponent >

TComponent * smacc2::ISmaccClient::getComponent

(

)

Definition at line 41 of file smacc_client_impl.hpp.

{
  return this->getComponent<TComponent>(std::string());
}

Referenced by cl_nav2z::CbNavigateGlobalPosition::execute(), cl_nitrosz::CbNavigateGlobalPosition::execute(), cl_nav2z::CbAbsoluteRotate::onEntry(), cl_nav2z::CbNavigateBackwards::onEntry(), cl_nav2z::CbNavigateForward::onEntry(), cl_nav2z::CbNavigateGlobalPosition::onEntry(), cl_nav2z::CbNavigateNamedWaypoint::onEntry(), cl_nav2z::CbNavigateNextWaypoint::onEntry(), cl_nav2z::CbRotate::onEntry(), cl_nav2z::CbSeekWaypoint::onEntry(), cl_nav2z::CbUndoPathBackwards::onEntry(), cl_nav2z::CbWaitPose::onEntry(), cl_nitrosz::CbAbsoluteRotate::onEntry(), cl_nitrosz::CbNavigateBackwards::onEntry(), cl_nitrosz::CbNavigateForward::onEntry(), cl_nitrosz::CbNavigateGlobalPosition::onEntry(), cl_nitrosz::CbNavigateNamedWaypoint::onEntry(), cl_nitrosz::CbNavigateNextWaypoint::onEntry(), cl_nitrosz::CbRotate::onEntry(), cl_nitrosz::CbSeekWaypoint::onEntry(), cl_nitrosz::CbUndoPathBackwards::onEntry(), cl_nitrosz::CbWaitPose::onEntry(), cl_nav2z::CbUndoPathBackwards::onExit(), cl_nitrosz::CbUndoPathBackwards::onExit(), cl_nav2z::CbNavigateNextWaypointUntilReached::onNavigationActionSuccess(), cl_nitrosz::CbNavigateNextWaypointUntilReached::onNavigationActionSuccess(), smacc2::ISmaccComponent::requiresComponent(), smacc2::ISmaccComponent::requiresComponent(), cl_nav2z::CpWaypointNavigator::sendNextGoal(), and cl_nitrosz::CpWaypointNavigator::sendNextGoal().

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getComponent() [2/3]

template<typename TComponent >

TComponent * smacc2::ISmaccClient::getComponent

(

int

index

)

Definition at line 47 of file smacc_client_impl.hpp.

{
  int count = 0;
  for (auto & component : components_)
  {
    auto * tcomponent = dynamic_cast<TComponent *>(component.second.get());
    if (tcomponent != nullptr)
    {
      if (count == index)
      {
        return tcomponent;
      }
      else
      {
        count++;
        continue;
      }
    }
  }
 
  return nullptr;
}

References components_.

getComponent() [3/3]

template<typename TComponent >

TComponent * smacc2::ISmaccClient::getComponent

(

std::string

name

)

Definition at line 71 of file smacc_client_impl.hpp.

{
  for (auto & component : components_)
  {
    if (!name.empty() && component.first.name != name) continue;
 
    auto * tcomponent = dynamic_cast<TComponent *>(component.second.get());
    if (tcomponent != nullptr)
    {
      return tcomponent;
    }
  }
 
  return nullptr;
}

References components_.

getComponents()

void smacc2::ISmaccClient::getComponents

(

std::vector< std::shared_ptr< ISmaccComponent > > &

components

)

Definition at line 34 of file client.cpp.

{
  for (auto & ce : components_)
  {
    components.push_back(ce.second);
  }
}

References components_.

Referenced by smacc2::ISmaccComponent::requiresComponent(), and smacc2::ISmaccComponent::requiresComponent().

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getLogger()

rclcpp::Logger smacc2::ISmaccClient::getLogger ( )

inlineprotected

Definition at line 105 of file smacc_client.hpp.

{ return getNode()->get_logger(); }

References getNode().

Referenced by smacc2::client_bases::SmaccPublisherClient::configure(), createNamedComponent(), smacc2::ISmaccComponent::getLogger(), cl_http::ClHttp::makeRequest(), smacc2::client_bases::SmaccServiceClient< ServiceType >::onInitialize(), smacc2::client_bases::SmaccServiceServerClient< TService >::onInitialize(), smacc2::client_bases::SmaccSubscriberClient< MessageType >::onInitialize(), cl_multirole_sensor::ClMultiroleSensor< MessageType >::onInitialize(), smacc2::client_bases::SmaccActionClientBase< ActionType >::onOrthogonalAllocation(), cl_keyboard::ClKeyboard::onOrthogonalAllocation(), cl_lifecyclenode::ClLifecycleNode::onOrthogonalAllocation(), smacc2::client_bases::SmaccActionClientBase< ActionType >::onResult(), cl_moveit2z::ClMoveit2z::postEventMotionExecutionFailed(), cl_moveit2z::ClMoveit2z::postEventMotionExecutionSucceded(), cl_keyboard::ClKeyboard::postKeyEvent(), smacc2::client_bases::SmaccActionClientBase< ActionType >::postResultEvent(), smacc2::client_bases::SmaccActionClientBase< ActionType >::sendGoal(), and smacc2::client_bases::SmaccActionClientBase< ActionType >::waitForServer().

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getName()

std::string smacc2::ISmaccClient::getName ( ) const

virtual

Reimplemented in smacc2::client_bases::ISmaccActionClient.

Definition at line 42 of file client.cpp.

{
  std::string keyname = demangleSymbol(typeid(*this).name());
  return keyname;
}

References smacc2::introspection::demangleSymbol().

Referenced by smacc2::client_bases::SmaccPublisherClient::configure(), createNamedComponent(), smacc2::client_bases::SmaccServiceClient< ServiceType >::onInitialize(), smacc2::client_bases::SmaccServiceServerClient< TService >::onInitialize(), and smacc2::client_bases::SmaccSubscriberClient< MessageType >::onInitialize().

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getNode()

rclcpp::Node::SharedPtr smacc2::ISmaccClient::getNode ( )

protected

Definition at line 60 of file client.cpp.

{ return this->getStateMachine()->getNode(); }

References smacc2::ISmaccStateMachine::getNode(), and getStateMachine().

Referenced by smacc2::client_bases::SmaccPublisherClient::configure(), getLogger(), smacc2::ISmaccComponent::getNode(), smacc2::client_bases::SmaccActionClientBase< ActionType >::onInitialize(), smacc2::client_bases::SmaccServiceClient< ServiceType >::onInitialize(), smacc2::client_bases::SmaccServiceServerClient< TService >::onInitialize(), smacc2::client_bases::SmaccSubscriberClient< MessageType >::onInitialize(), cl_lifecyclenode::ClLifecycleNode::onInitialize(), cl_moveit2z::ClMoveit2z::onInitialize(), cl_multirole_sensor::ClMultiroleSensor< MessageType >::onInitialize(), cl_ros_timer::ClRosTimer::onInitialize(), and cl_lifecyclenode::ClLifecycleNode::onTransitionEvent().

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getStateMachine()

ISmaccStateMachine * smacc2::ISmaccClient::getStateMachine ( )

inline

Definition at line 88 of file smacc_client_impl.hpp.

{ return this->stateMachine_; }

References stateMachine_.

Referenced by connectSignal(), createNamedComponent(), getNode(), smacc2::client_bases::SmaccActionClientBase< ActionType >::onAborted(), smacc2::client_bases::SmaccActionClientBase< ActionType >::onAborted(), smacc2::client_bases::SmaccActionClientBase< ActionType >::onCancelled(), smacc2::client_bases::SmaccActionClientBase< ActionType >::onCancelled(), smacc2::client_bases::SmaccSubscriberClient< MessageType >::onFirstMessageReceived(), cl_keyboard::ClKeyboard::OnKeyPress(), smacc2::client_bases::SmaccSubscriberClient< MessageType >::onMessageReceived(), cl_multirole_sensor::ClMultiroleSensor< MessageType >::onMessageTimeout(), cl_moveit2z::ClMoveit2z::onMotionExecutionFailed(), cl_moveit2z::ClMoveit2z::onMotionExecutionSuccedded(), cl_http::ClHttp::onResponseReceived(), smacc2::client_bases::SmaccServiceServerClient< TService >::onServiceRequestReceived(), smacc2::client_bases::SmaccActionClientBase< ActionType >::onSucceeded(), smacc2::client_bases::SmaccActionClientBase< ActionType >::onSucceeded(), cl_ros_timer::ClRosTimer::onTimerTick(), cl_nav2z::CpWaypointNavigator::sendNextGoal(), and cl_nitrosz::CpWaypointNavigator::sendNextGoal().

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getType()

smacc2::introspection::TypeInfo::Ptr smacc2::ISmaccClient::getType ( )

virtual

Definition at line 55 of file client.cpp.

{
  return smacc2::introspection::TypeInfo::getFromStdTypeInfo(typeid(*this));
}

References smacc2::introspection::TypeInfo::getFromStdTypeInfo().

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initialize()

void smacc2::ISmaccClient::initialize ( )

private

Definition at line 30 of file client.cpp.

{ this->onInitialize(); }

References onInitialize().

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iterateComponents()

const std::vector< std::shared_ptr< ISmaccComponent > > & smacc2::ISmaccClient::iterateComponents

(

)

const

onInitialize()

void smacc2::ISmaccClient::onInitialize ( )

virtual

Reimplemented in smacc2::client_bases::SmaccActionClientBase< ActionType >, smacc2::client_bases::SmaccActionClientBase< nav2_msgs::action::NavigateToPose >, smacc2::client_bases::SmaccServiceClient< ServiceType >, smacc2::client_bases::SmaccServiceServerClient< TService >, smacc2::client_bases::SmaccSubscriberClient< MessageType >, smacc2::client_bases::SmaccSubscriberClient< std_msgs::msg::UInt16 >, smacc2::client_bases::SmaccSubscriberClient< TMsg >, cl_http::ClHttp, cl_keyboard::ClKeyboard, cl_lifecyclenode::ClLifecycleNode, cl_moveit2z::ClMoveit2z, cl_multirole_sensor::ClMultiroleSensor< MessageType >, and cl_ros_timer::ClRosTimer.

Definition at line 32 of file client.cpp.

{}

Referenced by initialize().

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onOrthogonalAllocation()

template<typename TOrthogonal , typename TSourceObject >

void smacc2::ISmaccClient::onOrthogonalAllocation ( )

inlineprotected

Definition at line 90 of file smacc_client.hpp.

  {
  }

postEvent() [1/2]

template<typename EventType >

void smacc2::ISmaccClient::postEvent

(

)

Definition at line 35 of file smacc_client_impl.hpp.

{
  stateMachine_->postEvent<EventType>();
}

References smacc2::ISmaccStateMachine::postEvent(), and stateMachine_.

Referenced by smacc2::client_bases::SmaccActionClientBase< ActionType >::onOrthogonalAllocation(), smacc2::client_bases::SmaccSubscriberClient< MessageType >::onOrthogonalAllocation(), cl_lifecyclenode::ClLifecycleNode::onOrthogonalAllocation(), cl_multirole_sensor::ClMultiroleSensor< MessageType >::onOrthogonalAllocation(), and smacc2::client_bases::SmaccActionClientBase< ActionType >::postResultEvent().

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postEvent() [2/2]

template<typename EventType >

void smacc2::ISmaccClient::postEvent

(

const EventType &

ev

)

Definition at line 29 of file smacc_client_impl.hpp.

{
  stateMachine_->postEvent(ev);
}

References smacc2::ISmaccStateMachine::postEvent(), and stateMachine_.

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requiresClient()

template<typename SmaccClientType >

void smacc2::ISmaccClient::requiresClient

(

SmaccClientType *&

storage

)

Definition at line 144 of file smacc_client_impl.hpp.

{
  this->orthogonal_->requiresClient(storage);
}

References orthogonal_, and smacc2::ISmaccOrthogonal::requiresClient().

Referenced by smacc2::ISmaccComponent::requiresClient().

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setOrthogonal()

void smacc2::ISmaccClient::setOrthogonal ( ISmaccOrthogonal *  orthogonal )

private

Definition at line 53 of file client.cpp.

{ orthogonal_ = orthogonal; }

References orthogonal_.

setStateMachine()

void smacc2::ISmaccClient::setStateMachine ( ISmaccStateMachine *  stateMachine )

private

Definition at line 48 of file client.cpp.

{
  stateMachine_ = stateMachine;
}

References stateMachine_.

Friends And Related Symbol Documentation

ISmaccComponent

friend class ISmaccComponent

friend

Definition at line 123 of file smacc_client.hpp.

ISmaccOrthogonal

friend class ISmaccOrthogonal

friend

Definition at line 122 of file smacc_client.hpp.

Member Data Documentation

components_

std::map<ComponentKey, std::shared_ptr<smacc2::ISmaccComponent> > smacc2::ISmaccClient::components_

protected

Definition at line 95 of file smacc_client.hpp.

Referenced by createNamedComponent(), getComponent(), getComponent(), and getComponents().

orthogonal_

ISmaccOrthogonal* smacc2::ISmaccClient::orthogonal_

private

Definition at line 110 of file smacc_client.hpp.

Referenced by requiresClient(), and setOrthogonal().

stateMachine_

ISmaccStateMachine* smacc2::ISmaccClient::stateMachine_

private

Definition at line 109 of file smacc_client.hpp.

Referenced by getStateMachine(), postEvent(), postEvent(), and setStateMachine().

---

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

• smacc2/include/smacc2/smacc_client.hpp
• smacc2/include/smacc2/impl/smacc_client_impl.hpp
• smacc2/src/smacc2/client.cpp