#include <cb_default_generic_sensor_behavior.hpp>

Inheritance diagram for cl_generic_sensor::CbDefaultGenericSensorBehavior< ClientType >:

Collaboration diagram for cl_generic_sensor::CbDefaultGenericSensorBehavior< ClientType >:

Public Types
typedef ClientType::TMessageType	TMessageType

Public Member Functions
	CbDefaultGenericSensorBehavior ()

template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()

template<typename EvType >
void	propagateMessageEvent (const TMessageType &msg)

template<typename EvType >
void	propagateTimeoutEvent ()

void	onEntry () override

void	onExit () override

virtual void	onMessageCallback (const TMessageType &)

Public Member Functions inherited from smacc2::SmaccClientBehavior
virtual	~SmaccClientBehavior ()

void	onEntry () override

void	onExit () override

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, ComponentRequirement requirementType=ComponentRequirement::SOFT)

virtual void	executeOnEntry ()

virtual void	executeOnExit ()

Static Public Member Functions
static std::string	getEventLabel ()

Public Attributes
ClientType *	sensor_

smacc2::client_core_components::CpTopicSubscriber< TMessageType > *	subscriberComponent_

cl_generic_sensor::components::CpMessageTimeout< TMessageType > *	timeoutComponent_

std::function< void()>	deferredComponentConnection

Additional Inherited Members
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 void	dispose ()

virtual rclcpp::Node::SharedPtr	getNode () const

virtual rclcpp::Logger	getLogger () const

Detailed Description

template<typename ClientType>
class cl_generic_sensor::CbDefaultGenericSensorBehavior< ClientType >

Definition at line 30 of file cb_default_generic_sensor_behavior.hpp.

Member Typedef Documentation

◆ TMessageType

template<typename ClientType >

ClientType::TMessageType cl_generic_sensor::CbDefaultGenericSensorBehavior< ClientType >::TMessageType

Definition at line 33 of file cb_default_generic_sensor_behavior.hpp.

Constructor & Destructor Documentation

◆ CbDefaultGenericSensorBehavior()

template<typename ClientType >

cl_generic_sensor::CbDefaultGenericSensorBehavior< ClientType >::CbDefaultGenericSensorBehavior ( )

inline

Definition at line 41 of file cb_default_generic_sensor_behavior.hpp.

  : sensor_(nullptr), subscriberComponent_(nullptr), timeoutComponent_(nullptr)
  {
  }

Member Function Documentation

◆ getEventLabel()

template<typename ClientType >

static std::string cl_generic_sensor::CbDefaultGenericSensorBehavior< ClientType >::getEventLabel ( )

inlinestatic

Definition at line 46 of file cb_default_generic_sensor_behavior.hpp.

  {
    // Show ros message type
    return smacc2::demangleSymbol(typeid(TMessageType).name());
  }

References smacc2::introspection::demangleSymbol().

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◆ onEntry()

template<typename ClientType >

void cl_generic_sensor::CbDefaultGenericSensorBehavior< ClientType >::onEntry ( )

inlineoverridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 143 of file cb_default_generic_sensor_behavior.hpp.

  {
    RCLCPP_INFO(
      getLogger(), "[CbDefaultGenericSensorBehavior] onEntry. Requires client of type '%s'",
      smacc2::demangleSymbol<ClientType>().c_str());
 
    // Get the client if we don't have it yet
    if (sensor_ == nullptr)
    {
      this->requiresClient(sensor_);
    }
 
    if (sensor_ == nullptr)
    {
      RCLCPP_FATAL_STREAM(
        getLogger(),
        "[CbDefaultGenericSensorBehavior] Sensor client behavior needs a client of type: "
          << smacc2::demangleSymbol<ClientType>() << " but it is not found.");
    }
    else
    {
      // Connect to components
      deferredComponentConnection();
      RCLCPP_INFO(getLogger(), "[CbDefaultGenericSensorBehavior] Sensor behavior initialized");
    }
  }

References cl_generic_sensor::CbDefaultGenericSensorBehavior< ClientType >::deferredComponentConnection, smacc2::introspection::demangleSymbol(), smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::requiresClient(), and cl_generic_sensor::CbDefaultGenericSensorBehavior< ClientType >::sensor_.

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◆ onExit()

template<typename ClientType >

void cl_generic_sensor::CbDefaultGenericSensorBehavior< ClientType >::onExit ( )

inlineoverridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 170 of file cb_default_generic_sensor_behavior.hpp.

170{ RCLCPP_INFO(getLogger(), "[CbDefaultGenericSensorBehavior] onExit"); }

References smacc2::ISmaccClientBehavior::getLogger().

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◆ onMessageCallback()

template<typename ClientType >

virtual void cl_generic_sensor::CbDefaultGenericSensorBehavior< ClientType >::onMessageCallback ( const TMessageType & )

inlinevirtual

Definition at line 173 of file cb_default_generic_sensor_behavior.hpp.

  {
    // Empty to fill by sensor customization based on inheritance
  }

◆ onStateOrthogonalAllocation()

template<typename ClientType >

template<typename TOrthogonal , typename TSourceObject >

void cl_generic_sensor::CbDefaultGenericSensorBehavior< ClientType >::onStateOrthogonalAllocation ( )

inline

Definition at line 56 of file cb_default_generic_sensor_behavior.hpp.

  {
    // Setup deferred component connection and event propagation
    deferredComponentConnection = [this]()
    {
      RCLCPP_INFO(
        getLogger(),
        "[CbDefaultGenericSensorBehavior] Connecting to components for client type '%s'",
        smacc2::demangleSymbol<ClientType>().c_str());
 
      // Get the subscriber component from the client
      this->requiresComponent(subscriberComponent_);
 
      if (subscriberComponent_ == nullptr)
      {
        RCLCPP_ERROR(
          getLogger(),
          "[CbDefaultGenericSensorBehavior] Failed to get CpTopicSubscriber component!");
        return;
      }
 
      // Connect to subscriber component signals to propagate events
      subscriberComponent_->onMessageReceived(
        &CbDefaultGenericSensorBehavior<ClientType>::propagateMessageEvent<
          smacc2::default_events::EvTopicMessage<TSourceObject, TOrthogonal, TMessageType>>,
        this);
 
      subscriberComponent_->onFirstMessageReceived(
        &CbDefaultGenericSensorBehavior<ClientType>::propagateMessageEvent<
          smacc2::default_events::EvTopicInitialMessage<TSourceObject, TOrthogonal, TMessageType>>,
        this);
 
      RCLCPP_INFO(
        getLogger(), "[CbDefaultGenericSensorBehavior] Connected to subscriber component");
 
      // Try to get the timeout component (it's optional)
      try
      {
        this->requiresComponent(timeoutComponent_);
 
        if (timeoutComponent_ != nullptr)
        {
          // Connect to timeout component signal to propagate timeout events
          timeoutComponent_->onMessageTimeout(
            &CbDefaultGenericSensorBehavior<ClientType>::propagateTimeoutEvent<
              cl_generic_sensor::components::EvTopicMessageTimeout<TSourceObject, TOrthogonal>>,
            this);
 
          RCLCPP_INFO(
            getLogger(),
            "[CbDefaultGenericSensorBehavior] Connected to timeout component (watchdog active)");
        }
      }
      catch (const std::exception & e)
      {
        RCLCPP_INFO(
          getLogger(),
          "[CbDefaultGenericSensorBehavior] Timeout component not found (watchdog disabled): %s",
          e.what());
      }
    };
  }

References cl_generic_sensor::CbDefaultGenericSensorBehavior< ClientType >::deferredComponentConnection, smacc2::introspection::demangleSymbol(), smacc2::ISmaccClientBehavior::getLogger(), smacc2::client_core_components::CpTopicSubscriber< MessageType >::onFirstMessageReceived(), smacc2::client_core_components::CpTopicSubscriber< MessageType >::onMessageReceived(), cl_generic_sensor::components::CpMessageTimeout< MessageType >::onMessageTimeout(), smacc2::ISmaccClientBehavior::requiresComponent(), cl_generic_sensor::CbDefaultGenericSensorBehavior< ClientType >::subscriberComponent_, and cl_generic_sensor::CbDefaultGenericSensorBehavior< ClientType >::timeoutComponent_.

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◆ propagateMessageEvent()

template<typename ClientType >

template<typename EvType >

void cl_generic_sensor::CbDefaultGenericSensorBehavior< ClientType >::propagateMessageEvent ( const TMessageType & msg )

inline

Definition at line 121 of file cb_default_generic_sensor_behavior.hpp.

  {
    RCLCPP_DEBUG(
      getLogger(), "[CbDefaultGenericSensorBehavior] Propagating message event: %s",
      smacc2::demangleSymbol<EvType>().c_str());
 
    auto event = new EvType();
    event->msgData = msg;
    this->postEvent(event);
  }

References smacc2::introspection::demangleSymbol(), smacc2::ISmaccClientBehavior::getLogger(), and smacc2::ISmaccClientBehavior::postEvent().

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◆ propagateTimeoutEvent()

template<typename ClientType >

template<typename EvType >

void cl_generic_sensor::CbDefaultGenericSensorBehavior< ClientType >::propagateTimeoutEvent ( )

inline

Definition at line 134 of file cb_default_generic_sensor_behavior.hpp.

  {
    RCLCPP_WARN(
      getLogger(), "[CbDefaultGenericSensorBehavior] Propagating timeout event: %s",
      smacc2::demangleSymbol<EvType>().c_str());
 
    this->postEvent<EvType>();
  }