cl_nav2z::CbLoadWaypointsFile Struct Reference

#include <cb_load_waypoints_file.hpp>

Inheritance diagram for cl_nav2z::CbLoadWaypointsFile:

Collaboration diagram for cl_nav2z::CbLoadWaypointsFile:

Public Member Functions
	CbLoadWaypointsFile (std::string filepath)
	CbLoadWaypointsFile (std::string parameter_name, std::string packagenamespace)
void	onEntry () override
void	onExit () 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)

Public Attributes
std::optional< std::string >	filepath_
std::optional< std::string >	parameterName_
std::optional< std::string >	packageNamespace_
cl_nav2z::CpWaypointNavigatorBase *	waypointsNavigator_

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 28 of file cb_load_waypoints_file.hpp.

Constructor & Destructor Documentation

CbLoadWaypointsFile() [1/2]

cl_nav2z::CbLoadWaypointsFile::CbLoadWaypointsFile

(

std::string

filepath

)

Definition at line 28 of file cb_load_waypoints_file.cpp.

: filepath_(filepath) {}

CbLoadWaypointsFile() [2/2]

cl_nav2z::CbLoadWaypointsFile::CbLoadWaypointsFile	(	std::string	parameter_name,
		std::string	packagenamespace )

Definition at line 30 of file cb_load_waypoints_file.cpp.

: parameterName_(parameter_name), packageNamespace_(packagenamespace)
{
}

Member Function Documentation

onEntry()

void cl_nav2z::CbLoadWaypointsFile::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 35 of file cb_load_waypoints_file.cpp.

{
  requiresComponent(waypointsNavigator_);  // this is a component from the
                                           // nav2z_client library
 
  if (filepath_)
  {
    this->waypointsNavigator_->loadWayPointsFromFile(filepath_.value());
  }
  else
  {
    RCLCPP_INFO(getLogger(), "Loading waypoints from parameter %s", parameterName_.value().c_str());
    this->waypointsNavigator_->loadWaypointsFromYamlParameter(
      parameterName_.value(), packageNamespace_.value());
  }
 
  // change this to skip some points of the yaml file, default = 0
  waypointsNavigator_->currentWaypoint_ = 0;
  this->postSuccessEvent();
}

References cl_nav2z::CpWaypointNavigatorBase::currentWaypoint_, filepath_, smacc2::ISmaccClientBehavior::getLogger(), cl_nav2z::CpWaypointNavigatorBase::loadWayPointsFromFile(), cl_nav2z::CpWaypointNavigatorBase::loadWaypointsFromYamlParameter(), packageNamespace_, parameterName_, smacc2::SmaccAsyncClientBehavior::postSuccessEvent(), smacc2::ISmaccClientBehavior::requiresComponent(), and waypointsNavigator_.

Here is the call graph for this function:

onExit()

void cl_nav2z::CbLoadWaypointsFile::onExit ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 56 of file cb_load_waypoints_file.cpp.

{}

Member Data Documentation

filepath_

std::optional<std::string> cl_nav2z::CbLoadWaypointsFile::filepath_

Definition at line 39 of file cb_load_waypoints_file.hpp.

Referenced by onEntry().

packageNamespace_

std::optional<std::string> cl_nav2z::CbLoadWaypointsFile::packageNamespace_

Definition at line 42 of file cb_load_waypoints_file.hpp.

Referenced by onEntry().

parameterName_

std::optional<std::string> cl_nav2z::CbLoadWaypointsFile::parameterName_

Definition at line 41 of file cb_load_waypoints_file.hpp.

Referenced by onEntry().

waypointsNavigator_

cl_nav2z::CpWaypointNavigatorBase* cl_nav2z::CbLoadWaypointsFile::waypointsNavigator_

Definition at line 44 of file cb_load_waypoints_file.hpp.

Referenced by onEntry().

---

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

• smacc2_client_library/nav2z_client/nav2z_client/include/nav2z_client/client_behaviors/cb_load_waypoints_file.hpp
• smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/client_behaviors/cb_load_waypoints_file.cpp