smacc2::introspection Namespace Reference

Classes
struct	add_type_wrapper
struct	AddSubState
struct	AddTransition
struct	CheckType
class	ClientBehaviorHandler
struct	ClientBehaviorInfoEntry
struct	EventGeneratorCallbackFunctor
class	EventGeneratorHandler
class	HasAutomaticTransitionTag
class	HasAutomaticTransitionType
class	HasEventLabel
class	HasOnDefinition
struct	SmaccEventGeneratorInfo
struct	SmaccEventInfo
class	SmaccStateInfo
class	SmaccStateMachineInfo
struct	SmaccStateReactorInfo
struct	SmaccTransitionInfo
struct	StateReactorCallbackFunctor
class	StateReactorHandler
struct	type_
class	TypeInfo
struct	typelist
struct	WalkStatesExecutor

Typedefs
typedef std::allocator< boost::statechart::none >	SmaccAllocator
typedef boost::mpl::list< SUCCESS, ABORT, CANCEL, CONTINUELOOP, ENDLOOP >	DEFAULT_TRANSITION_TYPES

Enumerations
enum class	SmaccStateType { SUPERSTATE = 2 , STATE = 1 , SUPERSTATE_ROUTINE = 1 }

Functions
void	transitionInfoToMsg (const SmaccTransitionInfo &transition, smacc2_msgs::msg::SmaccTransition &transitionMsg)
template<class T >
auto	optionalNodeHandle (std::shared_ptr< T > &obj) -> T *
template<class T >
auto	optionalNodeHandle (boost::intrusive_ptr< T > &obj) -> T *
template<class T >
auto	optionalNodeHandle (T *obj) -> T *
std::string	demangleSymbol (const std::string &name)
std::string	demangleSymbol (const char *name)
template<typename T >
std::string	demangleSymbol ()
template<class T >
std::string	demangledTypeName ()
std::string	demangleType (const std::type_info *tinfo)
std::string	demangleType (const std::type_info &tinfo)
template<typename T >
std::enable_if< HasEventLabel< T >::value, void >::type	EventLabel (std::string &label)
template<typename T >
std::enable_if<!HasEventLabel< T >::value, void >::type	EventLabel (std::string &label)
template<typename T >
std::enable_if< HasAutomaticTransitionTag< T >::value, void >::type	automaticTransitionTag (std::string &transition_name)
template<typename T >
std::enable_if<!HasAutomaticTransitionTag< T >::value, void >::type	automaticTransitionTag (std::string &transition_name)
template<typename T >
std::enable_if< HasAutomaticTransitionType< T >::value, void >::type	automaticTransitionType (std::string &transition_type)
template<typename T >
std::enable_if<!HasAutomaticTransitionType< T >::value, void >::type	automaticTransitionType (std::string &transition_type)
template<typename TTransition >
static std::string	getTransitionType ()
template<typename T >
disable_if< boost::mpl::is_sequence< T > >::type	processSubState (std::shared_ptr< SmaccStateInfo > &parentState)
template<typename T >
enable_if< boost::mpl::is_sequence< T > >::type	processSubState (std::shared_ptr< SmaccStateInfo > &parentState)
template<typename T >
enable_if< boost::mpl::is_sequence< T > >::type	processTransitions (std::shared_ptr< SmaccStateInfo > &sourceState)
template<typename Ev , typename Dst , typename Tag >
void	processTransition (smacc2::Transition< Ev, boost::statechart::deep_history< Dst >, Tag > *, std::shared_ptr< SmaccStateInfo > &sourceState)
template<typename Ev , typename Dst , typename Tag >
void	processTransition (smacc2::Transition< Ev, Dst, Tag > *t, std::shared_ptr< SmaccStateInfo > &sourceState)
template<typename Ev , typename Dst , typename Tag >
void	processTransitionAux (smacc2::Transition< Ev, Dst, Tag > *, std::shared_ptr< SmaccStateInfo > &sourceState, bool history, TypeInfo::Ptr &transitionTypeInfo)
template<typename Ev , typename Dst >
void	processTransition (statechart::transition< Ev, Dst > *, std::shared_ptr< SmaccStateInfo > &sourceState)
template<typename Ev >
void	processTransition (statechart::custom_reaction< Ev > *, std::shared_ptr< SmaccStateInfo > &sourceState)
template<typename T >
disable_if< boost::mpl::is_sequence< T > >::type	processTransitions (std::shared_ptr< SmaccStateInfo > &sourceState)
template<typename T >
std::enable_if< HasOnDefinition< T >::value, void >::type	CallOnDefinition ()
template<typename T >
std::enable_if<!HasOnDefinition< T >::value, void >::type	CallOnDefinition ()
bool	replace (std::string &str, const std::string &from, const std::string &to)
std::string	replace_back (std::string roottype, std::vector< std::pair< std::string, std::string > > &orderedtypesdict)

Variables
rclcpp::Node::SharedPtr	globalNh_

Typedef Documentation

DEFAULT_TRANSITION_TYPES

typedef boost::mpl::list<SUCCESS, ABORT, CANCEL, CONTINUELOOP, ENDLOOP> smacc2::introspection::DEFAULT_TRANSITION_TYPES

Definition at line 223 of file introspection.hpp.

SmaccAllocator

typedef std::allocator<boost::statechart::none> smacc2::introspection::SmaccAllocator

Definition at line 52 of file introspection.hpp.

Enumeration Type Documentation

SmaccStateType

enum class smacc2::introspection::SmaccStateType

strong

Enumerator
SUPERSTATE
STATE
SUPERSTATE_ROUTINE

Definition at line 164 of file smacc_state_info.hpp.

{
  SUPERSTATE = 2,
  STATE = 1,
  SUPERSTATE_ROUTINE = 1
};

Function Documentation

automaticTransitionTag() [1/2]

template<typename T >

std::enable_if< HasAutomaticTransitionTag< T >::value, void >::type smacc2::introspection::automaticTransitionTag

(

std::string &

transition_name

)

Definition at line 174 of file introspection.hpp.

{
  transition_name = T::getDefaultTransitionTag();
}

automaticTransitionTag() [2/2]

template<typename T >

std::enable_if<!HasAutomaticTransitionTag< T >::value, void >::type smacc2::introspection::automaticTransitionTag

(

std::string &

transition_name

)

Definition at line 181 of file introspection.hpp.

{
  transition_name = "";
}

automaticTransitionType() [1/2]

template<typename T >

std::enable_if< HasAutomaticTransitionType< T >::value, void >::type smacc2::introspection::automaticTransitionType

(

std::string &

transition_type

)

Definition at line 208 of file introspection.hpp.

{
  transition_type = T::getDefaultTransitionType();
}

automaticTransitionType() [2/2]

template<typename T >

std::enable_if<!HasAutomaticTransitionType< T >::value, void >::type smacc2::introspection::automaticTransitionType

(

std::string &

transition_type

)

Definition at line 215 of file introspection.hpp.

{
  transition_type = demangledTypeName<DEFAULT>();
}

CallOnDefinition() [1/2]

template<typename T >

std::enable_if< HasOnDefinition< T >::value, void >::type smacc2::introspection::CallOnDefinition

(

)

Definition at line 348 of file smacc_state_machine_info.hpp.

{
  /* something when T has toString ... */
  RCLCPP_INFO_STREAM(
    globalNh_->get_logger(), "EXECUTING ONDEFINITION: " << demangleSymbol(typeid(T).name()));
  T::staticConfigure();
}

References demangleSymbol(), and globalNh_.

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CallOnDefinition() [2/2]

template<typename T >

std::enable_if<!HasOnDefinition< T >::value, void >::type smacc2::introspection::CallOnDefinition

(

)

Definition at line 357 of file smacc_state_machine_info.hpp.

{
  RCLCPP_INFO_STREAM(
    globalNh_->get_logger(),
    "static OnDefinition: dont exist for " << demangleSymbol(typeid(T).name()));
  /* something when T has toString ... */
}

References demangleSymbol(), and globalNh_.

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demangledTypeName()

template<class T >

std::string smacc2::introspection::demangledTypeName ( )

inline

Definition at line 101 of file introspection.hpp.

{
  return demangleSymbol(typeid(T).name());
}

References demangleSymbol().

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demangleSymbol() [1/3]

template<typename T >

std::string smacc2::introspection::demangleSymbol ( )

inline

Definition at line 95 of file introspection.hpp.

{
  return demangleSymbol(typeid(T).name());
}

References demangleSymbol().

Referenced by smacc2::introspection::SmaccStateMachineInfo::assembleSMStructureMessage(), CallOnDefinition(), smacc2::ISmaccStateMachine::createSignalConnection(), demangledTypeName(), demangleSymbol(), demangleSymbol(), demangleType(), demangleType(), smacc2::SmaccState< MostDerived, Context, InnerInitial, historyMode >::entryStateInternal(), smacc2::ISmaccState::getClassName(), smacc2::introspection::SmaccStateInfo::getDemangledFullName(), cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >::getEventLabel(), smacc2::introspection::SmaccEventInfo::getEventSourceName(), smacc2::introspection::SmaccEventInfo::getEventTypeName(), smacc2::introspection::TypeInfo::getFromStdTypeInfo(), smacc2::SmaccState< MostDerived, Context, InnerInitial, historyMode >::getFullName(), smacc2::ISmaccComponent::getName(), smacc2::ISmaccClient::getName(), smacc2::ISmaccClientBehavior::getName(), smacc2::ISmaccOrthogonal::getName(), smacc2::introspection::SmaccEventInfo::getOrthogonalName(), smacc2::ISmaccStateMachine::getStateMachineName(), smacc2::ISmaccStateMachine::mapBehavior(), smacc2::ISmaccStateMachine::notifyOnStateEntryEnd(), smacc2::ISmaccStateMachine::notifyOnStateEntryStart(), smacc2::ISmaccStateMachine::notifyOnStateExited(), smacc2::ISmaccStateMachine::notifyOnStateExitting(), cl_moveit2z::CbMoveEndEffectorTrajectory::onEntry(), smacc2::state_reactors::SrAllEventsGo::onEventNotified(), smacc2::state_reactors::SrEventCountdown::onEventNotified(), smacc2::client_bases::SmaccActionClientBase< ActionType >::onInitialize(), cl_keyboard::ClKeyboard::postKeyEvent(), cl_keyboard::CbDefaultKeyboardBehavior::postKeyEvent(), smacc2::client_bases::SmaccActionClientBase< ActionType >::postResultEvent(), processTransition(), processTransitionAux(), smacc2::ISmaccState::requiresClient(), smacc2::ISmaccStateMachine::requiresComponent(), smacc2::ISmaccComponent::requiresComponent(), smacc2::ISmaccComponent::requiresComponent(), and smacc2::client_bases::SmaccActionClientBase< ActionType >::sendGoal().

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demangleSymbol() [2/3]

std::string smacc2::introspection::demangleSymbol ( const char *  name )

inline

Definition at line 76 of file introspection.hpp.

{
#if (__GNUC__ && __cplusplus && __GNUC__ >= 3)
  int status;
  char * res = abi::__cxa_demangle(name, 0, 0, &status);
  if (res)
  {
    const std::string demangled_name(res);
    std::free(res);
    return demangled_name;
  }
  // Demangling failed, fallback to mangled name
  return std::string(name);
#else
  return std::string(name);
#endif
}

demangleSymbol() [3/3]

std::string smacc2::introspection::demangleSymbol ( const std::string &  name )

inline

Definition at line 74 of file introspection.hpp.

{ return demangleSymbol(name.c_str()); }

References demangleSymbol().

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demangleType() [1/2]

std::string smacc2::introspection::demangleType ( const std::type_info &  tinfo )

inline

Definition at line 111 of file introspection.hpp.

{
  return demangleSymbol(tinfo.name());
}

References demangleSymbol().

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demangleType() [2/2]

std::string smacc2::introspection::demangleType ( const std::type_info *  tinfo )

inline

Definition at line 106 of file introspection.hpp.

{
  return demangleSymbol(tinfo->name());
}

References demangleSymbol().

Referenced by smacc2::Orthogonal< TOrthogonal >::createClient(), smacc2::SignalDetector::findUpdatableClientsAndComponents(), smacc2::SignalDetector::findUpdatableStateElements(), cl_nav2z::CbNav2ZClientBehaviorBase::isOwnActionResponse(), cl_nitrosz::CbNav2ZClientBehaviorBase::isOwnActionResponse(), smacc2::client_behaviors::CbSequence::onEntry(), smacc2::client_bases::SmaccActionClientBase< ActionType >::onOrthogonalAllocation(), and smacc2::SignalDetector::pollOnce().

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EventLabel() [1/2]

template<typename T >

std::enable_if< HasEventLabel< T >::value, void >::type smacc2::introspection::EventLabel

(

std::string &

label

)

Definition at line 142 of file introspection.hpp.

{
  label = T::getEventLabel();
}

EventLabel() [2/2]

template<typename T >

std::enable_if<!HasEventLabel< T >::value, void >::type smacc2::introspection::EventLabel

(

std::string &

label

)

Definition at line 148 of file introspection.hpp.

{
  label = "";
}

getTransitionType()

template<typename TTransition >

static std::string smacc2::introspection::getTransitionType ( )

static

Definition at line 259 of file introspection.hpp.

{
  std::string output;
  CheckType<TTransition> op(&output);
  using boost::mpl::_1;
  using wrappedList = typename boost::mpl::transform<DEFAULT_TRANSITION_TYPES, _1>::type;
 
  boost::mpl::for_each<wrappedList>(op);
  return output;
}

optionalNodeHandle() [1/3]

template<class T >

auto smacc2::introspection::optionalNodeHandle

(

boost::intrusive_ptr< T > &

obj

)

-> T *

Definition at line 62 of file introspection.hpp.

{
  //return obj->getNode();
  return obj.get();
}

optionalNodeHandle() [2/3]

template<class T >

auto smacc2::introspection::optionalNodeHandle

(

std::shared_ptr< T > &

obj

)

-> T *

Definition at line 55 of file introspection.hpp.

{
  //return obj->getNode();
  return obj.get;
}

optionalNodeHandle() [3/3]

template<class T >

auto smacc2::introspection::optionalNodeHandle

(

T *

obj

)

-> T *

Definition at line 69 of file introspection.hpp.

{
  return obj;
}

processSubState() [1/2]

template<typename T >

disable_if< boost::mpl::is_sequence< T > >::type smacc2::introspection::processSubState

(

std::shared_ptr< SmaccStateInfo > &

parentState

)

Definition at line 141 of file smacc_state_machine_info.hpp.

{
  WalkStatesExecutor<T>::walkStates(parentState, false);
}

References smacc2::introspection::WalkStatesExecutor< InitialStateType >::walkStates().

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processSubState() [2/2]

template<typename T >

enable_if< boost::mpl::is_sequence< T > >::type smacc2::introspection::processSubState

(

std::shared_ptr< SmaccStateInfo > &

parentState

)

Definition at line 149 of file smacc_state_machine_info.hpp.

{
  using boost::mpl::_1;
  using wrappedList = typename boost::mpl::transform<T, add_type_wrapper<_1>>::type;
  boost::mpl::for_each<wrappedList>(AddSubState(parentState));
}

processTransition() [1/4]

template<typename Ev , typename Dst , typename Tag >

void smacc2::introspection::processTransition	(	smacc2::Transition< Ev, boost::statechart::deep_history< Dst >, Tag > *	,
		std::shared_ptr< SmaccStateInfo > &	sourceState
	)

Definition at line 172 of file smacc_state_machine_info.hpp.

{
  auto transitionTypeInfo = TypeInfo::getTypeInfoFromType<
    smacc2::Transition<Ev, boost::statechart::deep_history<Dst>, Tag>>();
  smacc2::Transition<Ev, Dst, Tag> * mock = nullptr;
  processTransitionAux(mock, sourceState, true, transitionTypeInfo);
}

References smacc2::introspection::TypeInfo::getTypeInfoFromType(), and processTransitionAux().

Referenced by processTransitions().

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processTransition() [2/4]

template<typename Ev , typename Dst , typename Tag >

void smacc2::introspection::processTransition	(	smacc2::Transition< Ev, Dst, Tag > *	t,
		std::shared_ptr< SmaccStateInfo > &	sourceState
	)

Definition at line 183 of file smacc_state_machine_info.hpp.

{
  auto transitionTypeInfo = TypeInfo::getTypeInfoFromType<smacc2::Transition<Ev, Dst, Tag>>();
  RCLCPP_INFO(
    globalNh_->get_logger(), "State %s Walker transition: %s", sourceState->toShortName().c_str(),
    demangleSymbol(typeid(Ev).name()).c_str());
  processTransitionAux(t, sourceState, false, transitionTypeInfo);
}

References demangleSymbol(), globalNh_, and processTransitionAux().

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processTransition() [3/4]

template<typename Ev >

void smacc2::introspection::processTransition	(	statechart::custom_reaction< Ev > *	,
		std::shared_ptr< SmaccStateInfo > &	sourceState
	)

Definition at line 328 of file smacc_state_machine_info.hpp.

{
  // RCLCPP_INFO_STREAM(getLogger(),"GOTCHA");
}

processTransition() [4/4]

template<typename Ev , typename Dst >

void smacc2::introspection::processTransition	(	statechart::transition< Ev, Dst > *	,
		std::shared_ptr< SmaccStateInfo > &	sourceState
	)

Definition at line 321 of file smacc_state_machine_info.hpp.

{
  // RCLCPP_INFO_STREAM(getLogger(),"GOTCHA");
}

processTransitionAux()

template<typename Ev , typename Dst , typename Tag >

void smacc2::introspection::processTransitionAux	(	smacc2::Transition< Ev, Dst, Tag > *	,
		std::shared_ptr< SmaccStateInfo > &	sourceState,
		bool	history,
		TypeInfo::Ptr &	transitionTypeInfo
	)

Definition at line 194 of file smacc_state_machine_info.hpp.

{
  RCLCPP_INFO(
    globalNh_->get_logger(), "State %s Walker transition: %s", sourceState->toShortName().c_str(),
    demangleSymbol(typeid(Ev).name()).c_str());
  std::string transitionTag;
  std::string transitionType;
 
  if (typeid(Tag) != typeid(default_transition_name))
  {
    transitionTag = demangleSymbol<Tag>();
    transitionType = getTransitionType<Tag>();
    RCLCPP_DEBUG_STREAM(globalNh_->get_logger(), "TRANSITION TYPE:" << transitionType);
  }
  else
  {
    transitionTag = "";
    automaticTransitionTag<Ev>(transitionTag);
    automaticTransitionType<Ev>(transitionType);
  }
 
  RCLCPP_INFO_STREAM(globalNh_->get_logger(), "Transition tag: " << transitionTag);
 
  if (!sourceState->stateMachine_->containsState<Dst>())
  {
    auto realparentState = sourceState->stateMachine_->getState<typename Dst::TContext>();
    auto siblingnode = sourceState->stateMachine_->createState<Dst>(realparentState);
 
    // auto siblingnode = sourceState->stateMachine_->createState<Dst>(sourceState->parentState_);
    WalkStatesExecutor<Dst>::walkStates(siblingnode, true);
    sourceState->declareTransition<Ev>(
      siblingnode, transitionTag, transitionType, history, transitionTypeInfo);
  }
  else
  {
    // auto realparentState = sourceState->stateMachine_->getState<typename Dst::TContext>();
    // auto siblingnode = sourceState->stateMachine_->createState<Dst>(realparentState);
 
    auto siblingnode = sourceState->stateMachine_->getState<Dst>();
    sourceState->declareTransition<Ev>(
      siblingnode, transitionTag, transitionType, history, transitionTypeInfo);
  }
}

References demangleSymbol(), globalNh_, and smacc2::introspection::WalkStatesExecutor< InitialStateType >::walkStates().

Referenced by processTransition(), and processTransition().

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processTransitions() [1/2]

template<typename T >

enable_if< boost::mpl::is_sequence< T > >::type smacc2::introspection::processTransitions

(

std::shared_ptr< SmaccStateInfo > &

sourceState

)

Definition at line 160 of file smacc_state_machine_info.hpp.

{
  RCLCPP_INFO(
    globalNh_->get_logger(), "State %s Walker has transition list",
    sourceState->fullStateName.c_str());
  using boost::mpl::_1;
  using wrappedList = typename boost::mpl::transform<T, add_type_wrapper<_1>>::type;
  boost::mpl::for_each<wrappedList>(AddTransition(sourceState));
}

References globalNh_.

processTransitions() [2/2]

template<typename T >

disable_if< boost::mpl::is_sequence< T > >::type smacc2::introspection::processTransitions

(

std::shared_ptr< SmaccStateInfo > &

sourceState

)

Definition at line 338 of file smacc_state_machine_info.hpp.

{
  // RCLCPP_INFO_STREAM(getLogger(),"state transition from: " << sourceState->demangledStateName <<
  // " of type: " << demangledTypeName<T>());
  T * dummy = nullptr;
  processTransition(dummy, sourceState);
}

References processTransition().

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replace()

bool smacc2::introspection::replace	(	std::string &	str,
		const std::string &	from,
		const std::string &	to
	)

Definition at line 39 of file string_type_walker.cpp.

{
  size_t start_pos = str.find(from);
  if (start_pos == std::string::npos) return false;
  str.replace(start_pos, from.length(), to);
  return true;
}

Referenced by smacc2::introspection::TypeInfo::getTypeInfoFromString(), and replace_back().

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replace_back()

std::string smacc2::introspection::replace_back	(	std::string	roottype,
		std::vector< std::pair< std::string, std::string > > &	orderedtypesdict
	)

Definition at line 47 of file string_type_walker.cpp.

{
  while (roottype.find("$") != std::string::npos)
  {
    for (auto & t : orderedtypesdict)
    {
      auto & tkey = t.first;
      auto & tval = t.second;
 
      replace(roottype, tkey, tval);
    }
  }
 
  return roottype;
 
  //   def replace_back(roottype, typesdict):
  //     # replace back
  //     while "$" in roottype:
  //         #print roottype
  //         for tkey in typesdict:
  //             tval = typesdict[tkey]
  //             roottype = roottype.replace(tkey, tval)
 
  //     return roottype
}

References replace().

Referenced by smacc2::introspection::TypeInfo::getTypeInfoFromString().

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transitionInfoToMsg()

void smacc2::introspection::transitionInfoToMsg	(	const SmaccTransitionInfo &	transition,
		smacc2_msgs::msg::SmaccTransition &	transitionMsg
	)

Definition at line 30 of file reflection.cpp.

{
  transitionMsg.index = transition.index;
 
  if (transition.sourceState != nullptr)
  {
    transitionMsg.source_state_name = transition.sourceState->demangledStateName;
  }
 
  transitionMsg.transition_name = transition.transitionTag;
  transitionMsg.transition_type = transition.transitionType;
 
  if (transition.eventInfo != nullptr)
  {
    transitionMsg.event.event_type = transition.eventInfo->getEventTypeName();
    transitionMsg.event.event_source = transition.eventInfo->getEventSourceName();
    transitionMsg.event.event_object_tag = transition.eventInfo->getOrthogonalName();
    transitionMsg.event.label = transition.eventInfo->label;
  }
 
  transitionMsg.history_node = transition.historyNode;
 
  if (transition.historyNode)
  {
    if (transition.destinyState->parentState_ != nullptr)
    {
      transitionMsg.destiny_state_name = transition.destinyState->parentState_->demangledStateName;
    }
    else
    {
      transitionMsg.destiny_state_name = "";
    }
  }
  else
  {
    transitionMsg.destiny_state_name = transition.destinyState->demangledStateName;
  }
}

References smacc2::introspection::SmaccTransitionInfo::destinyState, smacc2::introspection::SmaccTransitionInfo::eventInfo, smacc2::introspection::SmaccTransitionInfo::historyNode, smacc2::introspection::SmaccTransitionInfo::index, smacc2::introspection::SmaccTransitionInfo::sourceState, smacc2::introspection::SmaccTransitionInfo::transitionTag, and smacc2::introspection::SmaccTransitionInfo::transitionType.

Referenced by smacc2::introspection::SmaccStateMachineInfo::assembleSMStructureMessage(), and smacc2::ISmaccStateMachine::publishTransition().

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Variable Documentation

globalNh_

rclcpp::Node::SharedPtr smacc2::introspection::globalNh_

Definition at line 28 of file reflection.cpp.

Referenced by CallOnDefinition(), smacc2::introspection::TypeInfo::getTypeInfoFromString(), smacc2::SmaccStateMachineBase< DerivedStateMachine, InitialStateType >::initiate_impl(), processTransition(), processTransitionAux(), processTransitions(), smacc2::SmaccState< MostDerived, Context, InnerInitial, historyMode >::static_createStateReactor(), and smacc2::SmaccState< MostDerived, Context, InnerInitial, historyMode >::static_createStateReactor_aux().