smacc2::Orthogonal< TOrthogonal > Class Template Reference

#include <smacc_orthogonal_impl.hpp>

Inheritance diagram for smacc2::Orthogonal< TOrthogonal >:

Collaboration diagram for smacc2::Orthogonal< TOrthogonal >:

Public Member Functions
template<typename TClient , typename... TArgs>
std::shared_ptr< ClientHandler< TOrthogonal, TClient > >	createClient (TArgs... args)
Public Member Functions inherited from smacc2::ISmaccOrthogonal
void	setStateMachine (ISmaccStateMachine *value)
ISmaccStateMachine *	getStateMachine ()
void	initState (ISmaccState *state)
void	addClientBehavior (std::shared_ptr< smacc2::ISmaccClientBehavior > clientBehavior)
void	runtimeConfigure ()
void	onEntry ()
void	onExit ()
void	onDispose ()
virtual std::string	getName () const
template<typename SmaccComponentType >
void	requiresComponent (SmaccComponentType *&storage)
template<typename SmaccClientType >
bool	requiresClient (SmaccClientType *&storage)
const std::vector< std::shared_ptr< smacc2::ISmaccClient > > &	getClients ()
const std::vector< std::vector< std::shared_ptr< smacc2::ISmaccClientBehavior > > > &	getClientBehaviors () const
template<typename T >
void	setGlobalSMData (std::string name, T value)
template<typename T >
bool	getGlobalSMData (std::string name, T &ret)
template<typename TClientBehavior >
TClientBehavior *	getClientBehavior (int index=0)
rclcpp::Node::SharedPtr	getNode ()
rclcpp::Logger	getLogger ()

Additional Inherited Members
Protected Member Functions inherited from smacc2::ISmaccOrthogonal
virtual void	onInitialize ()
void	initializeClients ()
template<typename TOrthogonal , typename TClient >
void	assignClientToOrthogonal (TClient *client)
Protected Attributes inherited from smacc2::ISmaccOrthogonal
std::vector< std::shared_ptr< smacc2::ISmaccClient > >	clients_

Detailed Description

template<typename TOrthogonal>
class smacc2::Orthogonal< TOrthogonal >

Definition at line 168 of file smacc_orthogonal_impl.hpp.

Member Function Documentation

createClient()

template<typename TOrthogonal >

template<typename TClient , typename... TArgs>

std::shared_ptr< ClientHandler< TOrthogonal, TClient > > smacc2::Orthogonal< TOrthogonal >::createClient ( TArgs... args )

inline

Definition at line 172 of file smacc_orthogonal_impl.hpp.

  {
    //static_assert(std::is_base_of<ISmaccOrthogonal, TOrthogonal>::value, "The object Tag must be the orthogonal type where the client was created");
    // if (typeid(*this) != typeid(TOrthogonal))
    // {
    //     RCLCPP_ERROR_STREAM(getLogger(),"Error creating client. The object Tag must be the type of the orthogonal where the client was created:" << demangleType(typeid(*this)) << ". The object creation was skipped and a nullptr was returned");
    //     return nullptr;
    // }
 
    RCLCPP_INFO(
      getLogger(), "[%s] Creating client object, type:'%s' object tag: '%s'",
      demangleType(typeid(*this)).c_str(), demangledTypeName<TClient>().c_str(),
      demangledTypeName<TOrthogonal>().c_str());
 
    auto client = std::make_shared<ClientHandler<TOrthogonal, TClient>>(args...);
    this->template assignClientToOrthogonal<TOrthogonal, TClient>(client.get());
 
    // Call the component initialization hook
    TClient * clientPtr = static_cast<TClient *>(client.get());
    clientPtr->template onComponentInitialization<TOrthogonal, TClient>();
 
    // it is stored the client (not the client handler)
    this->clients_.push_back(client);
 
    return client;
  }

References smacc2::ISmaccOrthogonal::assignClientToOrthogonal(), smacc2::ISmaccOrthogonal::clients_, smacc2::introspection::demangledTypeName(), smacc2::introspection::demangleType(), and smacc2::ISmaccOrthogonal::getLogger().

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

• smacc2/include/smacc2/impl/smacc_orthogonal_impl.hpp