component.hpp

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// Copyright 2021 RobosoftAI Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
/*****************************************************************************************************************
 *
 *   Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 ******************************************************************************************************************/
#pragma once
 
#include <string>
 
#include <boost/optional.hpp>
#include <smacc2/common.hpp>
 
namespace smacc2
{
class ISmaccComponent
{
public:
  ISmaccComponent();
 
  virtual ~ISmaccComponent();
 
  // Returns a custom identifier defined by the specific plugin implementation
  virtual std::string getName() const;
 
protected:
  // this is the basic initialization method that each specific component should
  // implement. The owner and the node are already available when it is invoked by the client.
  virtual void onInitialize();
 
  // component initialization with type information of the orthogonal and client that owns it
  template <typename TOrthogonal, typename TClient>
  void onComponentInitialization();
 
  template <typename EventType>
  void postEvent(const EventType & ev);
 
  template <typename EventType>
  void postEvent();
 
  template <typename TOrthogonal, typename TSourceObject>
  [[deprecated(
    "Use onStateOrthogonalAllocation instead. onOrthogonalAllocation will be removed in future "
    "versions.")]] void
  onOrthogonalAllocation()
  {
  }
 
  // New method: called when the component is allocated to a state (replaces onOrthogonalAllocation)
  template <typename TOrthogonal, typename TSourceObject>
  void onStateOrthogonalAllocation()
  {
  }
 
  template <typename TComponent>
  void requiresComponent(
    TComponent *& requiredComponentStorage, bool throwExceptionIfNotExist = false);
 
  template <typename TComponent>
  void requiresComponent(
    std::string name, TComponent *& requiredComponentStorage,
    bool throwExceptionIfNotExist = false);
 
  template <typename TClient>
  void requiresClient(TClient *& requiredClientStorage);
 
  template <typename SmaccComponentType, typename TOrthogonal, typename TClient, typename... TArgs>
  SmaccComponentType * createSiblingComponent(TArgs... targs);
 
  template <typename SmaccComponentType, typename TOrthogonal, typename TClient, typename... TArgs>
  SmaccComponentType * createSiblingNamedComponent(std::string name, TArgs... targs);
 
  rclcpp::Node::SharedPtr getNode();
 
  rclcpp::Logger getLogger() const;
 
  //inline
  ISmaccStateMachine * getStateMachine();
 
  // A reference to the state machine object that owns this resource
  ISmaccStateMachine * stateMachine_;
 
  ISmaccClient * owner_;
 
private:
  // friend method invoked by the client.
  void initialize(ISmaccClient * owner);
 
  // friend method invoked by the client.
  // Assigns the owner of this resource to the given state machine parameter object
  void setStateMachine(ISmaccStateMachine * stateMachine);
 
  friend class ISmaccOrthogonal;
  friend class ISmaccClient;
};
}  // namespace smacc2