smacc2::client_behaviors::CbWaitActionServer Class Reference

#include <cb_wait_action_server.hpp>

Inheritance diagram for smacc2::client_behaviors::CbWaitActionServer:

Collaboration diagram for smacc2::client_behaviors::CbWaitActionServer:

Public Member Functions
	CbWaitActionServer (std::chrono::milliseconds timeout)
virtual	~CbWaitActionServer ()
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 ()

Private Attributes
ISmaccActionClient *	client_
std::chrono::milliseconds	timeout_

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_wait_action_server.hpp.

Constructor & Destructor Documentation

CbWaitActionServer()

smacc2::client_behaviors::CbWaitActionServer::CbWaitActionServer

(

std::chrono::milliseconds

timeout

)

Definition at line 27 of file cb_wait_action_server.cpp.

: timeout_(timeout) {}

~CbWaitActionServer()

smacc2::client_behaviors::CbWaitActionServer::~CbWaitActionServer ( )

virtual

Definition at line 29 of file cb_wait_action_server.cpp.

{}

Member Function Documentation

onEntry()

void smacc2::client_behaviors::CbWaitActionServer::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 31 of file cb_wait_action_server.cpp.

{
  if (client_ != nullptr)
  {
    bool found = false;
    auto starttime = getNode()->now();
    while (!this->isShutdownRequested() && !found && (getNode()->now() - starttime) < timeout_)
    {
      std::shared_ptr<rclcpp_action::ClientBase> client_base = client_->getClientBase();
      RCLCPP_INFO(getLogger(), "[CbWaitActionServer] waiting action server..");
      found = client_base->wait_for_action_server(std::chrono::milliseconds(1000));
    }
 
    if (found)
    {
      RCLCPP_INFO(getLogger(), "[CbWaitActionServer] action server already available");
      this->postSuccessEvent();
    }
    else
    {
      RCLCPP_INFO(getLogger(), "[CbWaitActionServer] action server not found, timeout");
      this->postFailureEvent();
    }
  }
  else
  {
    RCLCPP_INFO(getLogger(), "[CbWaitActionServer] there is no action client in this orthogonal");
    this->postFailureEvent();
  }
}

References client_, smacc2::client_bases::ISmaccActionClient::getClientBase(), smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getNode(), smacc2::SmaccAsyncClientBehavior::isShutdownRequested(), smacc2::SmaccAsyncClientBehavior::postFailureEvent(), smacc2::SmaccAsyncClientBehavior::postSuccessEvent(), and timeout_.

Here is the call graph for this function:

onOrthogonalAllocation()

template<typename TOrthogonal , typename TSourceObject >

void smacc2::client_behaviors::CbWaitActionServer::onOrthogonalAllocation ( )

inline

Definition at line 42 of file cb_wait_action_server.hpp.

  {
    SmaccAsyncClientBehavior::onOrthogonalAllocation<TOrthogonal, TSourceObject>();
 
    // requires an action client
    this->requiresClient(client_);
  }

References client_, smacc2::SmaccAsyncClientBehavior::onOrthogonalAllocation(), and smacc2::ISmaccClientBehavior::requiresClient().

Here is the call graph for this function:

Member Data Documentation

client_

ISmaccActionClient* smacc2::client_behaviors::CbWaitActionServer::client_

private

Definition at line 53 of file cb_wait_action_server.hpp.

Referenced by onEntry(), and onOrthogonalAllocation().

timeout_

std::chrono::milliseconds smacc2::client_behaviors::CbWaitActionServer::timeout_

private

Definition at line 55 of file cb_wait_action_server.hpp.

Referenced by onEntry().

---

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

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