#include <cb_ros_launch_2.hpp>

Inheritance diagram for smacc2::client_behaviors::CbRosLaunch2:

Collaboration diagram for smacc2::client_behaviors::CbRosLaunch2:

Public Member Functions
	CbRosLaunch2 ()

	CbRosLaunch2 (std::string package, std::string launchfile, RosLaunchMode)

virtual	~CbRosLaunch2 ()

template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()

void	onEntry () override

Public Member Functions inherited from smacc2::SmaccAsyncClientBehavior
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()

template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()

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)

template<typename SmaccComponentType >
void	requiresComponent (SmaccComponentType *&storage, ComponentRequirement requirementType=ComponentRequirement::SOFT)

virtual void	onExit ()

Public Attributes
std::optional< std::string >	packageName_

std::optional< std::string >	launchFileName_

RosLaunchMode	launchMode_

Protected Attributes
std::future< std::string >	result_

smacc2::client_bases::ClRosLaunch2 *	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_2.hpp.

Constructor & Destructor Documentation

◆ CbRosLaunch2() [1/2]

smacc2::client_behaviors::CbRosLaunch2::CbRosLaunch2 ( )

Definition at line 28 of file cb_ros_launch_2.cpp.

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

◆ CbRosLaunch2() [2/2]

smacc2::client_behaviors::CbRosLaunch2::CbRosLaunch2	(	std::string	package,
		std::string	launchfile,
		RosLaunchMode	launchmode )

Definition at line 36 of file cb_ros_launch_2.cpp.

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

◆ ~CbRosLaunch2()

smacc2::client_behaviors::CbRosLaunch2::~CbRosLaunch2 ( )

virtual

Definition at line 41 of file cb_ros_launch_2.cpp.

41{}

Member Function Documentation

◆ onEntry()

void smacc2::client_behaviors::CbRosLaunch2::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 49 of file cb_ros_launch_2.cpp.

{
  RCLCPP_INFO_STREAM(getLogger(), "[CbRosLaunch2] OnEntry");
 
  std::string packageName, launchFileName;
  if (
    launchFileName_ && packageName_ &&
    launchMode_ == RosLaunchMode::LAUNCH_CLIENT_BEHAVIOR_LIFETIME)
  {
    std::function<bool()> breakfunction;
 
    breakfunction = std::bind(&CbRosLaunch2::isShutdownRequested, this);
 
    RCLCPP_INFO_STREAM(
      getLogger(), "[CbRosLaunch2] launching: " << *packageName_ << " , " << *launchFileName_
                                                << "LaunchMode: " << (int)launchMode_);
 
    auto result_ = smacc2::client_bases::ClRosLaunch2::executeRosLaunch(
      // this->result_ = smacc2::client_bases::ClRosLaunch2::executeRosLaunch(
      *packageName_, *launchFileName_, breakfunction);
  }
  else if (launchMode_ == RosLaunchMode::LAUNCH_DETTACHED)
  {
    this->requiresClient(client_);
    if (launchFileName_ && packageName_)
    {
      client_->packageName_ = *packageName_;
      client_->launchFileName_ = *launchFileName_;
    }
 
    RCLCPP_INFO_STREAM(getLogger(), "[CbRosLaunch2] finding Ros Launch client");
 
    // this->requiresClient(client_);
    if (client_ != nullptr)
    {
      RCLCPP_INFO_STREAM(
        getLogger(), "[CbRosLaunch2] launching from client: " << client_->packageName_ << " , "
                                                              << client_->launchFileName_);
 
      client_->launch();
    }
    else
    {
      RCLCPP_ERROR(
        getLogger(),
        "[CbRosLaunch2] Inccorrect ros launch operation. No Ros Launch client specified neither "
        "package/roslaunch file path.");
    }
  }
  else
  {
    RCLCPP_ERROR(
      getLogger(),
      "[CbRosLaunch2] Inccorrect ros launch operation. Not supported case. Invalid argument.");
  }
}

References client_, smacc2::client_bases::ClRosLaunch2::executeRosLaunch(), smacc2::ISmaccClientBehavior::getLogger(), smacc2::SmaccAsyncClientBehavior::isShutdownRequested(), smacc2::client_bases::ClRosLaunch2::launch(), smacc2::client_behaviors::LAUNCH_CLIENT_BEHAVIOR_LIFETIME, smacc2::client_behaviors::LAUNCH_DETTACHED, smacc2::client_bases::ClRosLaunch2::launchFileName_, launchFileName_, launchMode_, smacc2::client_bases::ClRosLaunch2::packageName_, packageName_, smacc2::ISmaccClientBehavior::requiresClient(), and result_.

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◆ onOrthogonalAllocation()

template<typename TOrthogonal , typename TSourceObject >

void smacc2::client_behaviors::CbRosLaunch2::onOrthogonalAllocation ( )

inline

Definition at line 50 of file cb_ros_launch_2.hpp.

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

References smacc2::SmaccAsyncClientBehavior::onOrthogonalAllocation().

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Member Data Documentation

◆ client_

smacc2::client_bases::ClRosLaunch2* smacc2::client_behaviors::CbRosLaunch2::client_

protected

Definition at line 65 of file cb_ros_launch_2.hpp.

Referenced by onEntry().

◆ detached_futures_

std::vector< std::future< std::string > > smacc2::client_behaviors::CbRosLaunch2::detached_futures_

staticprivate

Definition at line 38 of file cb_ros_launch_2.hpp.

◆ future_

std::future<std::string> smacc2::client_behaviors::CbRosLaunch2::future_

protected

Definition at line 67 of file cb_ros_launch_2.hpp.

◆ launchFileName_

std::optional<std::string> smacc2::client_behaviors::CbRosLaunch2::launchFileName_

Definition at line 58 of file cb_ros_launch_2.hpp.

Referenced by onEntry().

◆ launchMode_

RosLaunchMode smacc2::client_behaviors::CbRosLaunch2::launchMode_

Definition at line 60 of file cb_ros_launch_2.hpp.

Referenced by onEntry().

◆ packageName_

std::optional<std::string> smacc2::client_behaviors::CbRosLaunch2::packageName_

Definition at line 57 of file cb_ros_launch_2.hpp.

Referenced by onEntry().

◆ result_

std::future<std::string> smacc2::client_behaviors::CbRosLaunch2::result_

protected

Definition at line 63 of file cb_ros_launch_2.hpp.

Referenced by onEntry().

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

smacc2/include/smacc2/client_behaviors/cb_ros_launch_2.hpp
smacc2/src/smacc2/client_behaviors/cb_ros_launch_2.cpp

Public Member Functions

Public Attributes

Protected Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CbRosLaunch2() [1/2]

◆ CbRosLaunch2() [2/2]

◆ ~CbRosLaunch2()

Member Function Documentation

◆ onEntry()

◆ onOrthogonalAllocation()

Member Data Documentation

◆ client_

◆ detached_futures_

◆ future_

◆ launchFileName_

◆ launchMode_

◆ packageName_

◆ result_