smacc2::client_behaviors::CbRosLaunch Class Reference

#include <cb_ros_launch.hpp>

Inheritance diagram for smacc2::client_behaviors::CbRosLaunch:

Collaboration diagram for smacc2::client_behaviors::CbRosLaunch:

Public Member Functions
	CbRosLaunch ()
	CbRosLaunch (std::string package, std::string launchfile, RosLaunchMode)
virtual	~CbRosLaunch ()
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
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 ()

Public Attributes
std::optional< std::string >	packageName_
std::optional< std::string >	launchFileName_
RosLaunchMode	launchMode_

Protected Attributes
std::string	result_
smacc2::client_bases::ClRosLaunch *	client_
std::future< std::string >	future_

Static Private Attributes
static std::vector< std::future< std::string > >	detached_futures_

Additional Inherited Members
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 35 of file cb_ros_launch.hpp.

Constructor & Destructor Documentation

CbRosLaunch() [1/2]

smacc2::client_behaviors::CbRosLaunch::CbRosLaunch

(

)

Definition at line 28 of file cb_ros_launch.cpp.

: packageName_(std::nullopt),
  launchFileName_(std::nullopt),
  launchMode_(RosLaunchMode::LAUNCH_CLIENT_BEHAVIOR_LIFETIME)
{
}

CbRosLaunch() [2/2]

smacc2::client_behaviors::CbRosLaunch::CbRosLaunch	(	std::string	package,
		std::string	launchfile,
		RosLaunchMode	launchmode )

Definition at line 35 of file cb_ros_launch.cpp.

: packageName_(package), launchFileName_(launchfile), launchMode_(launchmode)
{
}

~CbRosLaunch()

smacc2::client_behaviors::CbRosLaunch::~CbRosLaunch ( )

virtual

Definition at line 40 of file cb_ros_launch.cpp.

{}

Member Function Documentation

onEntry()

void smacc2::client_behaviors::CbRosLaunch::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 48 of file cb_ros_launch.cpp.

{
  RCLCPP_INFO_STREAM(getLogger(), "[CbRosLaunch] OnEntry");
 
  std::string packageName, launchFileName;
  if (launchFileName_ && packageName_)
  {
    std::function<bool()> breakfunction;
 
    if (launchMode_ == RosLaunchMode::LAUNCH_CLIENT_BEHAVIOR_LIFETIME)
    {
      breakfunction = [this]() -> bool { return this->isShutdownRequested(); };
    }
    else
    {
      breakfunction = []() -> bool { return false; };
    }
 
    RCLCPP_INFO_STREAM(
      getLogger(), "[CbRosLaunch] launching: " << *packageName_ << " , " << *launchFileName_
                                               << "LaunchMode: " << (int)launchMode_);
 
    auto fut = smacc2::client_bases::ClRosLaunch::executeRosLaunch(
      *packageName_, *launchFileName_, breakfunction);
 
    if (launchMode_ == RosLaunchMode::LAUNCH_DETTACHED)
      detached_futures_.push_back(std::move(fut));
    else
      future_ = std::move(fut);
  }
  else
  {
    RCLCPP_INFO_STREAM(getLogger(), "[CbRosLaunch] finding Ros Launch client");
 
    this->requiresClient(client_);
    if (client_ != nullptr)
    {
      RCLCPP_INFO_STREAM(
        getLogger(), "[CbRosLaunch] launching from client: " << client_->packageName_ << " , "
                                                             << client_->launchFileName_);
 
      client_->launch();
    }
    else
    {
      RCLCPP_ERROR(
        getLogger(),
        "[CbRosLaunch] Inccorrect ros launch operation. No Ros Launch client specified neither "
        "package/roslaunch file path.");
    }
  }
}

References client_, detached_futures_, smacc2::client_bases::ClRosLaunch::executeRosLaunch(), future_, smacc2::ISmaccClientBehavior::getLogger(), smacc2::SmaccAsyncClientBehavior::isShutdownRequested(), smacc2::client_bases::ClRosLaunch::launch(), smacc2::client_behaviors::LAUNCH_CLIENT_BEHAVIOR_LIFETIME, smacc2::client_behaviors::LAUNCH_DETTACHED, smacc2::client_bases::ClRosLaunch::launchFileName_, launchFileName_, launchMode_, smacc2::client_bases::ClRosLaunch::packageName_, packageName_, and smacc2::ISmaccClientBehavior::requiresClient().

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onOrthogonalAllocation()

template<typename TOrthogonal , typename TSourceObject >

void smacc2::client_behaviors::CbRosLaunch::onOrthogonalAllocation ( )

inline

Definition at line 50 of file cb_ros_launch.hpp.

  {
    smacc2::SmaccAsyncClientBehavior::onOrthogonalAllocation<TOrthogonal, TSourceObject>();
  }

References smacc2::SmaccAsyncClientBehavior::onOrthogonalAllocation().

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Member Data Documentation

client_

smacc2::client_bases::ClRosLaunch* smacc2::client_behaviors::CbRosLaunch::client_

protected

Definition at line 65 of file cb_ros_launch.hpp.

Referenced by onEntry().

detached_futures_

std::vector< std::future< std::string > > smacc2::client_behaviors::CbRosLaunch::detached_futures_

staticprivate

Definition at line 38 of file cb_ros_launch.hpp.

Referenced by onEntry().

future_

std::future<std::string> smacc2::client_behaviors::CbRosLaunch::future_

protected

Definition at line 67 of file cb_ros_launch.hpp.

Referenced by onEntry().

launchFileName_

std::optional<std::string> smacc2::client_behaviors::CbRosLaunch::launchFileName_

Definition at line 58 of file cb_ros_launch.hpp.

Referenced by onEntry().

launchMode_

RosLaunchMode smacc2::client_behaviors::CbRosLaunch::launchMode_

Definition at line 60 of file cb_ros_launch.hpp.

Referenced by onEntry().

packageName_

std::optional<std::string> smacc2::client_behaviors::CbRosLaunch::packageName_

Definition at line 57 of file cb_ros_launch.hpp.

Referenced by onEntry().

result_

std::string smacc2::client_behaviors::CbRosLaunch::result_

protected

Definition at line 63 of file cb_ros_launch.hpp.

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

• smacc2/include/smacc2/client_behaviors/cb_ros_launch.hpp
• smacc2/src/smacc2/client_behaviors/cb_ros_launch.cpp