#include <cb_wait_topic_message.hpp>

Inheritance diagram for smacc2::client_behaviors::CbWaitTopicMessage< TMessage >:

Collaboration diagram for smacc2::client_behaviors::CbWaitTopicMessage< TMessage >:

Public Member Functions
	CbWaitTopicMessage (const char *topicname, std::function< bool(const TMessage &)> guardFunction=nullptr)

virtual	~CbWaitTopicMessage ()

void	onEntry () override

void	onMessageReceived (const typename TMessage::SharedPtr msg)

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
bool	success = false

rclcpp::Subscription< TMessage >::SharedPtr	sub_

std::function< bool(const TMessage &)>	guardFn_

std::string	topicname_

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 TMessage>
class smacc2::client_behaviors::CbWaitTopicMessage< TMessage >

Definition at line 36 of file cb_wait_topic_message.hpp.

Constructor & Destructor Documentation

◆ CbWaitTopicMessage()

template<typename TMessage >

smacc2::client_behaviors::CbWaitTopicMessage< TMessage >::CbWaitTopicMessage	(	const char *	topicname,
		std::function< bool(const TMessage &)>	guardFunction = `nullptr`
	)

inline

Definition at line 39 of file cb_wait_topic_message.hpp.

  {
    topicname_ = topicname;
    guardFn_ = guardFunction;
  }

References smacc2::client_behaviors::CbWaitTopicMessage< TMessage >::guardFn_, and smacc2::client_behaviors::CbWaitTopicMessage< TMessage >::topicname_.

◆ ~CbWaitTopicMessage()

template<typename TMessage >

virtual smacc2::client_behaviors::CbWaitTopicMessage< TMessage >::~CbWaitTopicMessage ( )

inlinevirtual

Definition at line 46 of file cb_wait_topic_message.hpp.

46{}

Member Function Documentation

◆ onEntry()

template<typename TMessage >

void smacc2::client_behaviors::CbWaitTopicMessage< TMessage >::onEntry ( )

inlineoverridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 48 of file cb_wait_topic_message.hpp.

  {
    rclcpp::SensorDataQoS qos;
    // qos.reliable();
    // rclcpp::SubscriptionOptions sub_option;
    RCLCPP_INFO_STREAM(
      getLogger(), "[CbWaitTopicMessage] waiting message from topic: "
                     << topicname_ << "[" << demangledTypeName<TMessage>() << "]");
 
    // sub_ = getNode()->create_subscription<TMessage>(
    //   topicname_, qos,
    //   std::bind(&CbWaitTopicMessage<TMessage>::onMessageReceived, this, std::placeholders::_1),
    //   sub_option);
 
    std::function<void(typename TMessage::SharedPtr)> fn = [this](auto msg)
    { this->onMessageReceived(msg); };
 
    auto nh = getNode();
    sub_ = nh->create_subscription<TMessage>(topicname_, qos, fn);
  }

References smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getNode(), smacc2::client_behaviors::CbWaitTopicMessage< TMessage >::onMessageReceived(), smacc2::client_behaviors::CbWaitTopicMessage< TMessage >::sub_, and smacc2::client_behaviors::CbWaitTopicMessage< TMessage >::topicname_.

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◆ onMessageReceived()

template<typename TMessage >

void smacc2::client_behaviors::CbWaitTopicMessage< TMessage >::onMessageReceived ( const typename TMessage::SharedPtr msg )

inline

Definition at line 69 of file cb_wait_topic_message.hpp.

  {
    if (guardFn_ == nullptr || guardFn_(*msg))
    {
      RCLCPP_INFO(getLogger(), "[CbWaitTopicMessage] message received.");
      success = true;
      this->postSuccessEvent();
    }
  }