smacc2::ISmaccComponent Class Reference

#include <component.hpp>

Inheritance diagram for smacc2::ISmaccComponent:

Collaboration diagram for smacc2::ISmaccComponent:

Public Member Functions
	ISmaccComponent ()
virtual	~ISmaccComponent ()
virtual std::string	getName () const

Protected Member Functions
virtual void	onInitialize ()
template<typename TOrthogonal , typename TClient >
void	onComponentInitialization ()
template<typename EventType >
void	postEvent (const EventType &ev)
template<typename EventType >
void	postEvent ()
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()
template<typename TComponent >
void	requiresComponent (TComponent *&requiredComponentStorage, bool throwExceptionIfNotExist)
template<typename TComponent >
void	requiresComponent (std::string name, TComponent *&requiredComponentStorage, bool throwExceptionIfNotExist)
template<typename TComponent >
void	requiresComponent (TComponent *&requiredComponentStorage, ComponentRequirement requirementType=ComponentRequirement::SOFT)
template<typename TComponent >
void	requiresComponent (std::string name, TComponent *&requiredComponentStorage, ComponentRequirement requirementType=ComponentRequirement::SOFT)
template<typename TClient >
void	requiresClient (TClient *&requiredClientStorage)
template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createSiblingComponent (TArgs... targs)
template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createSiblingNamedComponent (std::string name, TArgs... targs)
rclcpp::Node::SharedPtr	getNode ()
rclcpp::Logger	getLogger () const
ISmaccStateMachine *	getStateMachine ()

Protected Attributes
ISmaccStateMachine *	stateMachine_
ISmaccClient *	owner_

Private Member Functions
void	initialize (ISmaccClient *owner)
void	setStateMachine (ISmaccStateMachine *stateMachine)

Friends
class	ISmaccOrthogonal
class	ISmaccClient

Detailed Description

Definition at line 29 of file component.hpp.

Constructor & Destructor Documentation

ISmaccComponent()

smacc2::ISmaccComponent::ISmaccComponent

(

)

Definition at line 27 of file smacc_component.cpp.

: owner_(nullptr) {}

~ISmaccComponent()

smacc2::ISmaccComponent::~ISmaccComponent ( )

virtual

Definition at line 25 of file smacc_component.cpp.

{}

Member Function Documentation

createSiblingComponent()

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

SmaccComponentType * smacc2::ISmaccComponent::createSiblingComponent ( TArgs... targs )

protected

Definition at line 121 of file smacc_component_impl.hpp.

{
  return this->owner_->createComponent<SmaccComponentType, TOrthogonal, TClient>(targs...);
}

References smacc2::ISmaccClient::createComponent(), and owner_.

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createSiblingNamedComponent()

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

SmaccComponentType * smacc2::ISmaccComponent::createSiblingNamedComponent ( std::string name, TArgs... targs )

protected

Definition at line 127 of file smacc_component_impl.hpp.

{
  return this->owner_->createNamedComponent<SmaccComponentType, TOrthogonal, TClient>(
    name, targs...);
}

References smacc2::ISmaccClient::createNamedComponent(), and owner_.

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getLogger()

rclcpp::Logger smacc2::ISmaccComponent::getLogger ( ) const

protected

Definition at line 44 of file smacc_component.cpp.

{ return owner_->getLogger(); }

References smacc2::ISmaccClient::getLogger(), and owner_.

Referenced by smacc2::client_core_components::CpActionClient< ActionType >::cancelGoal(), cl_nav2z::components::CpNav2ActionInterface::cancelNavigation(), smacc2::client_core_components::CpRos2Timer::cancelTimer(), cl_nav2z::odom_tracker::CpOdomTracker::clearPath(), cl_moveit2z::CpGraspingComponent::createGraspableBox(), cl_nav2z::CpCostmapSwitch::disable(), cl_nav2z::CpCostmapSwitch::enable(), cl_moveit2z::CpTrajectoryHistory::getLastTrajectory(), cl_nav2z::CpWaypointNavigatorBase::loadWayPointsFromFile(), cl_nav2z::CpWaypointNavigatorBase::loadWayPointsFromFile2(), cl_nav2z::CpWaypointNavigatorBase::loadWaypointsFromYamlParameter(), cl_nav2z::odom_tracker::CpOdomTracker::logStateString(), cl_nav2z::CpWaypointNavigatorBase::notifyGoalReached(), cl_keyboard::components::CpKeyboardListener1::onComponentInitialization(), cl_nav2z::components::CpNav2ActionInterface::onComponentInitialization(), smacc2::client_core_components::CpActionClient< ActionType >::onComponentInitialization(), cl_nav2z::CpWaypointNavigator::onGoalReached(), cl_nav2z::components::CpNav2ActionInterface::onInitialize(), cl_nav2z::CpCostmapSwitch::onInitialize(), cl_nav2z::CpPose::onInitialize(), cl_nav2z::odom_tracker::CpOdomTracker::onInitialize(), cl_nav2z::Pose::onInitialize(), cl_ros2_timer::components::CpTimerListener1::onInitialize(), smacc2::client_core_components::CpActionClient< ActionType >::onInitialize(), smacc2::client_core_components::CpRos2Timer::onInitialize(), smacc2::client_core_components::CpTopicSubscriber< MessageType >::onInitialize(), cl_nav2z::components::CpNav2ActionInterface::onNavigationAbortedCallback(), cl_nav2z::components::CpNav2ActionInterface::onNavigationCancelledCallback(), cl_nav2z::components::CpNav2ActionInterface::onNavigationFeedbackCallback(), cl_nav2z::components::CpNav2ActionInterface::onNavigationSuccessCallback(), smacc2::client_core_components::CpActionClient< ActionType >::onResult(), cl_ros2_timer::components::CpTimerListener1::onStateOrthogonalAllocation(), cl_ros2_timer::components::CpTimerListener1::onTimerTickCallback(), cl_nav2z::odom_tracker::CpOdomTracker::parametersCallback(), cl_nav2z::odom_tracker::CpOdomTracker::popPath(), cl_keyboard::components::CpKeyboardListener1::postKeyEvent(), smacc2::client_core_components::CpActionClient< ActionType >::postResultEvent(), cl_nav2z::odom_tracker::CpOdomTracker::processNewPose(), cl_nav2z::odom_tracker::CpOdomTracker::pushPath(), cl_moveit2z::CpTrajectoryHistory::pushTrajectory(), cl_nav2z::CpCostmapSwitch::registerProxyFromDynamicReconfigureServer(), requiresComponent(), requiresComponent(), cl_nav2z::CpWaypointNavigatorBase::seekName(), cl_nav2z::components::CpNav2ActionInterface::sendGoal(), smacc2::client_core_components::CpActionClient< ActionType >::sendGoal(), cl_nav2z::components::CpNav2ActionInterface::sendNavigationGoal(), cl_nav2z::CpWaypointNavigator::sendNextGoal(), cl_nav2z::CpPlannerSwitcher::setBackwardPlanner(), cl_nav2z::odom_tracker::CpOdomTracker::setCurrentPathName(), cl_nav2z::CpPlannerSwitcher::setForwardPlanner(), cl_nav2z::CpGoalCheckerSwitcher::setGoalCheckerId(), cl_nav2z::CpPlannerSwitcher::setPureSpinningPlanner(), cl_nav2z::odom_tracker::CpOdomTracker::setStartPoint(), cl_nav2z::odom_tracker::CpOdomTracker::setStartPoint(), cl_nav2z::CpPlannerSwitcher::setUndoPathBackwardPlanner(), cl_nav2z::odom_tracker::CpOdomTracker::setWorkingMode(), smacc2::client_core_components::CpRos2Timer::startTimer(), smacc2::client_core_components::CpRos2Timer::stopTimer(), smacc2::client_core_components::CpRos2Timer::timerCallback(), cl_nav2z::CpPose::toPoseStampedMsg(), cl_nav2z::Pose::toPoseStampedMsg(), cl_nav2z::CpPose::update(), cl_nav2z::odom_tracker::CpOdomTracker::update(), cl_nav2z::Pose::update(), cl_nav2z::odom_tracker::CpOdomTracker::updateClearPath(), cl_nav2z::odom_tracker::CpOdomTracker::updateRecordPath(), smacc2::client_core_components::CpActionClient< ActionType >::waitForServer(), cl_nav2z::CpPose::waitTransformUpdate(), and cl_nav2z::Pose::waitTransformUpdate().

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getName()

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

virtual

Reimplemented in cl_nav2z::CpAmcl, and cl_nav2z::CpAmcl.

Definition at line 46 of file smacc_component.cpp.

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

References smacc2::introspection::demangleSymbol().

Referenced by smacc2::client_core_components::CpActionClient< ActionType >::cancelGoal(), smacc2::client_core_components::CpRos2Timer::cancelTimer(), cl_moveit2z::CpGraspingComponent::createGraspableBox(), cl_moveit2z::CpTrajectoryHistory::getLastTrajectory(), smacc2::client_core_components::CpActionClient< ActionType >::onComponentInitialization(), smacc2::client_core_components::CpActionClient< ActionType >::onInitialize(), smacc2::client_core_components::CpRos2Timer::onInitialize(), smacc2::client_core_components::CpTopicSubscriber< MessageType >::onInitialize(), smacc2::client_core_components::CpActionClient< ActionType >::onResult(), smacc2::client_core_components::CpActionClient< ActionType >::postResultEvent(), cl_moveit2z::CpTrajectoryHistory::pushTrajectory(), smacc2::client_core_components::CpActionClient< ActionType >::sendGoal(), cl_nav2z::CpWaypointNavigator::sendNextGoal(), smacc2::client_core_components::CpRos2Timer::startTimer(), smacc2::client_core_components::CpRos2Timer::stopTimer(), smacc2::client_core_components::CpRos2Timer::timerCallback(), and smacc2::client_core_components::CpActionClient< ActionType >::waitForServer().

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getNode()

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

protected

Definition at line 42 of file smacc_component.cpp.

{ return owner_->getNode(); }

References smacc2::ISmaccClient::getNode(), and owner_.

Referenced by cl_nav2z::odom_tracker::CpOdomTracker::clearPath(), cl_nav2z::CpWaypointsVisualizer::createMarker(), cl_nav2z::CpWaypointsVisualizer::createMarkerLabel(), cl_nav2z::CpPose::freezeReferenceFrame(), cl_nav2z::Pose::freezeReferenceFrame(), cl_nav2z::CpWaypointNavigatorBase::loadWaypointsFromYamlParameter(), cl_nav2z::CpAmcl::onInitialize(), cl_nav2z::CpGoalCheckerSwitcher::onInitialize(), cl_nav2z::CpPlannerSwitcher::onInitialize(), cl_nav2z::CpPose::onInitialize(), cl_nav2z::CpWaypointsVisualizer::onInitialize(), cl_nav2z::odom_tracker::CpOdomTracker::onInitialize(), cl_nav2z::Pose::onInitialize(), smacc2::client_core_components::CpActionClient< ActionType >::onInitialize(), smacc2::client_core_components::CpRos2Timer::onInitialize(), smacc2::client_core_components::CpTopicSubscriber< MessageType >::onInitialize(), cl_nav2z::odom_tracker::CpOdomTracker::processNewPose(), cl_nav2z::CpCostmapSwitch::registerProxyFromDynamicReconfigureServer(), cl_nav2z::odom_tracker::CpOdomTracker::setOdomFrame(), cl_nav2z::odom_tracker::CpOdomTracker::setStartPoint(), cl_nav2z::CpPose::update(), cl_nav2z::CpWaypointsVisualizer::update(), cl_nav2z::Pose::update(), cl_nav2z::odom_tracker::CpOdomTracker::updateConfiguration(), cl_nav2z::odom_tracker::CpOdomTracker::updateRecordPath(), cl_nav2z::CpPose::waitTransformUpdate(), and cl_nav2z::Pose::waitTransformUpdate().

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getStateMachine()

ISmaccStateMachine * smacc2::ISmaccComponent::getStateMachine ( )

protected

Definition at line 52 of file smacc_component.cpp.

{ return this->stateMachine_; }

References stateMachine_.

Referenced by smacc2::client_core_components::CpActionClient< ActionType >::onAborted(), smacc2::client_core_components::CpActionClient< ActionType >::onCancelled(), smacc2::client_core_components::CpActionClient< ActionType >::onFeedback(), smacc2::client_core_components::CpTopicSubscriber< MessageType >::onFirstMessageReceived(), cl_keyboard::components::CpKeyboardListener1::OnKeyPress(), smacc2::client_core_components::CpTopicSubscriber< MessageType >::onMessageReceived(), cl_nav2z::components::CpNav2ActionInterface::onNavigationAborted(), cl_nav2z::components::CpNav2ActionInterface::onNavigationCancelled(), cl_nav2z::components::CpNav2ActionInterface::onNavigationFeedback(), cl_nav2z::components::CpNav2ActionInterface::onNavigationSucceeded(), smacc2::client_core_components::CpActionClient< ActionType >::onSucceeded(), cl_ros2_timer::components::CpTimerListener1::onTimerCompleted(), and smacc2::client_core_components::CpRos2Timer::onTimerTick().

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initialize()

void smacc2::ISmaccComponent::initialize ( ISmaccClient * owner )

private

Definition at line 29 of file smacc_component.cpp.

{
  owner_ = owner;
  this->onInitialize();
}

References onInitialize(), and owner_.

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onComponentInitialization()

template<typename TOrthogonal , typename TClient >

void smacc2::ISmaccComponent::onComponentInitialization ( )

protected

Definition at line 134 of file smacc_component_impl.hpp.

{
}

onInitialize()

void smacc2::ISmaccComponent::onInitialize ( )

protectedvirtual

Reimplemented in cl_nav2z::components::CpNav2ActionInterface, cl_nav2z::CpAmcl, cl_nav2z::CpAmcl, cl_nav2z::CpCostmapSwitch, cl_nav2z::CpCostmapSwitch, cl_nav2z::CpGoalCheckerSwitcher, cl_nav2z::CpGoalCheckerSwitcher, cl_nav2z::CpPlannerSwitcher, cl_nav2z::CpPlannerSwitcher, cl_nav2z::CpPose, cl_nav2z::CpWaypointNavigator, cl_nav2z::CpWaypointNavigator, cl_nav2z::CpWaypointNavigatorBase, cl_nav2z::CpWaypointNavigatorBase, cl_nav2z::CpWaypointsVisualizer, cl_nav2z::CpWaypointsVisualizer, cl_nav2z::odom_tracker::CpOdomTracker, cl_nav2z::odom_tracker::CpOdomTracker, cl_nav2z::Pose, cl_ros2_timer::components::CpTimerListener1, smacc2::client_core_components::CpActionClient< ActionType >, smacc2::client_core_components::CpActionClient< ActionT >, smacc2::client_core_components::CpActionClient< nav2_msgs::action::NavigateToPose >, smacc2::client_core_components::CpRos2Timer, smacc2::client_core_components::CpTopicPublisher< MessageType >, and smacc2::client_core_components::CpTopicSubscriber< MessageType >.

Definition at line 35 of file smacc_component.cpp.

{}

Referenced by initialize().

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onOrthogonalAllocation()

template<typename TOrthogonal , typename TSourceObject >

void smacc2::ISmaccComponent::onOrthogonalAllocation ( )

inlineprotected

Definition at line 58 of file component.hpp.

  {
  }

onStateOrthogonalAllocation()

template<typename TOrthogonal , typename TSourceObject >

void smacc2::ISmaccComponent::onStateOrthogonalAllocation ( )

inlineprotected

Definition at line 64 of file component.hpp.

  {
  }

postEvent() [1/2]

template<typename EventType >

void smacc2::ISmaccComponent::postEvent ( )

protected

Definition at line 37 of file smacc_component_impl.hpp.

{
  auto ev = new EventType();
  stateMachine_->postEvent(ev);
}

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

Referenced by cl_nav2z::CpWaypointNavigatorBase::notifyGoalReached(), cl_nav2z::components::CpNav2ActionInterface::onComponentInitialization(), smacc2::client_core_components::CpActionClient< ActionType >::onComponentInitialization(), cl_ros2_timer::components::CpTimerListener1::onStateOrthogonalAllocation(), smacc2::client_core_components::CpTopicSubscriber< MessageType >::onStateOrthogonalAllocation(), cl_keyboard::components::CpKeyboardListener1::postKeyEvent(), and smacc2::client_core_components::CpActionClient< ActionType >::postResultEvent().

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postEvent() [2/2]

template<typename EventType >

void smacc2::ISmaccComponent::postEvent ( const EventType & ev )

protected

Definition at line 31 of file smacc_component_impl.hpp.

{
  stateMachine_->postEvent(ev);
}

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

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requiresClient()

template<typename TClient >

void smacc2::ISmaccComponent::requiresClient ( TClient *& requiredClientStorage )

protected

Definition at line 115 of file smacc_component_impl.hpp.

{
  this->owner_->requiresClient(requiredClientStorage);
}

References owner_, and smacc2::ISmaccClient::requiresClient().

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requiresComponent() [1/4]

template<typename TComponent >

void smacc2::ISmaccComponent::requiresComponent ( std::string name, TComponent *& requiredComponentStorage, bool throwExceptionIfNotExist )

protected

Definition at line 53 of file smacc_component_impl.hpp.

{
  this->requiresComponent(
    name, requiredComponentStorage,
    throwExceptionIfNotExist ? ComponentRequirement::HARD : ComponentRequirement::SOFT);
}

References smacc2::HARD, requiresComponent(), and smacc2::SOFT.

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requiresComponent() [2/4]

template<typename TComponent >

void smacc2::ISmaccComponent::requiresComponent ( std::string name, TComponent *& requiredComponentStorage, ComponentRequirement requirementType = ComponentRequirement::SOFT )

protected

Definition at line 88 of file smacc_component_impl.hpp.

{
  requiredComponentStorage = this->owner_->getComponent<TComponent>(name);
 
  if (requiredComponentStorage == nullptr && requirementType == ComponentRequirement::HARD)
  {
    RCLCPP_DEBUG_STREAM(
      this->getLogger(), std::string("Required component with name: '") + name + "'" +
                           demangleSymbol(typeid(TComponent).name()) +
                           " not found. Available components:");
 
    std::vector<std::shared_ptr<ISmaccComponent>> components;
    this->owner_->getComponents(components);
 
    for (auto c : components)
    {
      RCLCPP_DEBUG(this->getLogger(), " - Component %s", c->getName().c_str());
    }
 
    throw std::runtime_error(
      std::string("Component ") + demangleSymbol(typeid(TComponent).name()) +
      std::string(" not found"));
  }
}

References smacc2::introspection::demangleSymbol(), smacc2::ISmaccClient::getComponent(), smacc2::ISmaccClient::getComponents(), getLogger(), smacc2::HARD, and owner_.

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requiresComponent() [3/4]

template<typename TComponent >

void smacc2::ISmaccComponent::requiresComponent ( TComponent *& requiredComponentStorage, bool throwExceptionIfNotExist )

protected

Definition at line 44 of file smacc_component_impl.hpp.

{
  this->requiresComponent(
    requiredComponentStorage,
    throwExceptionIfNotExist ? ComponentRequirement::HARD : ComponentRequirement::SOFT);
}

References smacc2::HARD, requiresComponent(), and smacc2::SOFT.

Referenced by cl_keyboard::components::CpKeyboardListener1::onComponentInitialization(), cl_nav2z::components::CpNav2ActionInterface::onInitialize(), cl_nav2z::CpWaypointNavigator::onInitialize(), cl_nav2z::CpWaypointsVisualizer::onInitialize(), cl_nav2z::odom_tracker::CpOdomTracker::onInitialize(), cl_ros2_timer::components::CpTimerListener1::onInitialize(), cl_nav2z::CpWaypointNavigator::onStateOrthogonalAllocation(), requiresComponent(), requiresComponent(), and cl_nav2z::CpWaypointNavigator::sendNextGoal().

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requiresComponent() [4/4]

template<typename TComponent >

void smacc2::ISmaccComponent::requiresComponent ( TComponent *& requiredComponentStorage, ComponentRequirement requirementType = ComponentRequirement::SOFT )

protected

Definition at line 62 of file smacc_component_impl.hpp.

{
  requiredComponentStorage = this->owner_->getComponent<TComponent>();
 
  if (requiredComponentStorage == nullptr && requirementType == ComponentRequirement::HARD)
  {
    RCLCPP_DEBUG_STREAM(
      this->getLogger(), std::string("Required component ") +
                           demangleSymbol(typeid(TComponent).name()) +
                           " not found. Available components:");
 
    std::vector<std::shared_ptr<ISmaccComponent>> components;
    this->owner_->getComponents(components);
 
    for (auto c : components)
    {
      RCLCPP_DEBUG(this->getLogger(), "- Component %s", c->getName().c_str());
    }
 
    throw std::runtime_error(
      std::string("Component ") + demangleSymbol(typeid(TComponent).name()) + " not found");
  }
}

References smacc2::introspection::demangleSymbol(), smacc2::ISmaccClient::getComponent(), smacc2::ISmaccClient::getComponents(), getLogger(), smacc2::HARD, and owner_.

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setStateMachine()

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

private

Definition at line 37 of file smacc_component.cpp.

{
  stateMachine_ = stateMachine;
}

References stateMachine_.

Friends And Related Symbol Documentation

ISmaccClient

friend class ISmaccClient

friend

Definition at line 123 of file component.hpp.

ISmaccOrthogonal

friend class ISmaccOrthogonal

friend

Definition at line 122 of file component.hpp.

Member Data Documentation

owner_

ISmaccClient* smacc2::ISmaccComponent::owner_

protected

Definition at line 112 of file component.hpp.

Referenced by createSiblingComponent(), createSiblingNamedComponent(), getLogger(), getNode(), initialize(), cl_nav2z::CpCostmapSwitch::onInitialize(), cl_nav2z::CpWaypointNavigator::onStateOrthogonalAllocation(), cl_nav2z::CpWaypointNavigatorBase::onStateOrthogonalAllocation(), requiresClient(), requiresComponent(), requiresComponent(), and cl_nav2z::CpWaypointNavigator::sendNextGoal().

stateMachine_

ISmaccStateMachine* smacc2::ISmaccComponent::stateMachine_

protected

Definition at line 110 of file component.hpp.

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

---

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

• smacc2/include/smacc2/component.hpp
• smacc2/include/smacc2/impl/smacc_component_impl.hpp
• smacc2/src/smacc2/smacc_component.cpp