#include <cb_wait_action_server_2.hpp>

Inheritance diagram for smacc2::client_behaviors::CbWaitActionServer2< ActionT >:

Collaboration diagram for smacc2::client_behaviors::CbWaitActionServer2< ActionT >:

Public Member Functions
template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()

	CbWaitActionServer2 (std::chrono::milliseconds timeout)

virtual	~CbWaitActionServer2 ()

void	onEntry ()

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
CpActionClient< ActionT > *	cp_action_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

template<typename ActionT>
class smacc2::client_behaviors::CbWaitActionServer2< ActionT >

Definition at line 36 of file cb_wait_action_server_2.hpp.

Constructor & Destructor Documentation

◆ CbWaitActionServer2()

template<typename ActionT >

smacc2::client_behaviors::CbWaitActionServer2< ActionT >::CbWaitActionServer2 ( std::chrono::milliseconds timeout )

inline

Definition at line 47 of file cb_wait_action_server_2.hpp.

47: timeout_(timeout) {}

smacc2::client_behaviors::CbWaitActionServer2::timeout_

std::chrono::milliseconds timeout_

Definition cb_wait_action_server_2.hpp:86

◆ ~CbWaitActionServer2()

template<typename ActionT >

virtual smacc2::client_behaviors::CbWaitActionServer2< ActionT >::~CbWaitActionServer2 ( )

inlinevirtual

Definition at line 49 of file cb_wait_action_server_2.hpp.

49{}

Member Function Documentation

◆ onEntry()

template<typename ActionT >

void smacc2::client_behaviors::CbWaitActionServer2< ActionT >::onEntry ( )

inlinevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 51 of file cb_wait_action_server_2.hpp.

  {
    if (cp_action_client_ != nullptr)
    {
      RCLCPP_INFO(
        getLogger(), "[CbWaitActionServer] waiting for action server (using CpActionClient)...");
      bool found = false;
      auto starttime = getNode()->now();
      while (!this->isShutdownRequested() && !found && (getNode()->now() - starttime) < timeout_)
      {
        auto client_base = cp_action_client_->getActionClient();
        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 smacc2::client_behaviors::CbWaitActionServer2< ActionT >::cp_action_client_, smacc2::client_core_components::CpActionClient< ActionType >::getActionClient(), smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getNode(), smacc2::SmaccAsyncClientBehavior::isShutdownRequested(), smacc2::SmaccAsyncClientBehavior::postFailureEvent(), smacc2::SmaccAsyncClientBehavior::postSuccessEvent(), and smacc2::client_behaviors::CbWaitActionServer2< ActionT >::timeout_.

Here is the call graph for this function:

◆ onStateOrthogonalAllocation()

template<typename ActionT >

template<typename TOrthogonal , typename TSourceObject >

void smacc2::client_behaviors::CbWaitActionServer2< ActionT >::onStateOrthogonalAllocation ( )

inline

Definition at line 40 of file cb_wait_action_server_2.hpp.

  {
    SmaccAsyncClientBehavior::onStateOrthogonalAllocation<TOrthogonal, TSourceObject>();
 
    this->requiresComponent(cp_action_client_, ComponentRequirement::SOFT);
  }