#include <cb_wait_node.hpp>

Inheritance diagram for smacc2::client_behaviors::CbWaitNode:

Collaboration diagram for smacc2::client_behaviors::CbWaitNode:

Public Member Functions
	CbWaitNode (std::string nodeName)

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 ()

Protected Attributes
std::string	nodeName_

rclcpp::Rate	rate_

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 33 of file cb_wait_node.hpp.

Constructor & Destructor Documentation

◆ CbWaitNode()

smacc2::client_behaviors::CbWaitNode::CbWaitNode ( std::string nodeName )

Definition at line 27 of file cb_wait_node.cpp.

27: nodeName_(nodeName), rate_(5) {}

smacc2::client_behaviors::CbWaitNode::nodeName_

std::string nodeName_

Definition cb_wait_node.hpp:41

smacc2::client_behaviors::CbWaitNode::rate_

rclcpp::Rate rate_

Definition cb_wait_node.hpp:43

Member Function Documentation

◆ onEntry()

void smacc2::client_behaviors::CbWaitNode::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 29 of file cb_wait_node.cpp.

{
  bool found = false;
  while (!this->isShutdownRequested() && !found)
  {
    std::stringstream ss;
    auto nodenames = getNode()->get_node_names();
 
    for (auto n : nodenames)
    {
      ss << " - " << n << std::endl;
 
      if (n == nodeName_) found = true;
    }
 
    auto totalstr = ss.str();
    RCLCPP_INFO_STREAM(
      getLogger(), "[" << getName() << "] on entry, listing nodes (" << nodenames.size() << ")"
                       << std::endl
                       << totalstr);
 
    rate_.sleep();
  }
 
  if (found)
  {
    this->postSuccessEvent();
  }
  else
  {
    this->postFailureEvent();
  }
}

References smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), smacc2::ISmaccClientBehavior::getNode(), smacc2::SmaccAsyncClientBehavior::isShutdownRequested(), nodeName_, smacc2::SmaccAsyncClientBehavior::postFailureEvent(), smacc2::SmaccAsyncClientBehavior::postSuccessEvent(), and rate_.

Here is the call graph for this function:

Member Data Documentation

◆ nodeName_

std::string smacc2::client_behaviors::CbWaitNode::nodeName_

protected

Definition at line 41 of file cb_wait_node.hpp.

Referenced by onEntry().

◆ rate_

rclcpp::Rate smacc2::client_behaviors::CbWaitNode::rate_

protected

Definition at line 43 of file cb_wait_node.hpp.

Referenced by onEntry().

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

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

Public Member Functions

Protected Attributes

Additional Inherited Members