#include <cb_wait_topic.hpp>

Inheritance diagram for smacc2::client_behaviors::CbWaitTopic:

Collaboration diagram for smacc2::client_behaviors::CbWaitTopic:

Public Member Functions
	CbWaitTopic (std::string topicName)

virtual	~CbWaitTopic ()

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 ()

Protected Attributes
std::string	topicName_

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_topic.hpp.

Constructor & Destructor Documentation

◆ CbWaitTopic()

smacc2::client_behaviors::CbWaitTopic::CbWaitTopic ( std::string topicName )

Definition at line 27 of file cb_wait_topic.cpp.

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

smacc2::client_behaviors::CbWaitTopic::rate_

rclcpp::Rate rate_

Definition cb_wait_topic.hpp:45

smacc2::client_behaviors::CbWaitTopic::topicName_

std::string topicName_

Definition cb_wait_topic.hpp:43

◆ ~CbWaitTopic()

smacc2::client_behaviors::CbWaitTopic::~CbWaitTopic ( )

virtual

Definition at line 29 of file cb_wait_topic.cpp.

29{}

Member Function Documentation

◆ onEntry()

void smacc2::client_behaviors::CbWaitTopic::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 31 of file cb_wait_topic.cpp.

{
  bool found = false;
  while (!this->isShutdownRequested() && !found)
  {
    RCLCPP_INFO_STREAM_THROTTLE(
      getLogger(), *(getNode()->get_clock()), 1000,
      "[" << getName() << "] waiting topic: " << topicName_);
    std::stringstream ss;
    auto topicnames = getNode()->get_topic_names_and_types();
 
    for (auto & t : topicnames)
    {
      ss << t.first << std::endl;
      if (t.first == topicName_)
      {
        found = true;
      }
    }
 
    auto totalstr = ss.str();
    RCLCPP_INFO_STREAM_THROTTLE(
      getLogger(), *(getNode()->get_clock()), 5000,
      "[" << getName() << "] still waiting topic " << topicName_ << ", listing topics ("
          << topicnames.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(), smacc2::SmaccAsyncClientBehavior::postFailureEvent(), smacc2::SmaccAsyncClientBehavior::postSuccessEvent(), rate_, and topicName_.

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Member Data Documentation

◆ rate_

rclcpp::Rate smacc2::client_behaviors::CbWaitTopic::rate_

protected

Definition at line 45 of file cb_wait_topic.hpp.

Referenced by onEntry().

◆ topicName_

std::string smacc2::client_behaviors::CbWaitTopic::topicName_

protected

Definition at line 43 of file cb_wait_topic.hpp.