cl_generic_sensor::ClGenericSensor< MessageType > Class Template Reference

#include <cl_generic_sensor.hpp>

Inheritance diagram for cl_generic_sensor::ClGenericSensor< MessageType >:

Collaboration diagram for cl_generic_sensor::ClGenericSensor< MessageType >:

Public Types
typedef MessageType	TMessageType

Public Member Functions
	ClGenericSensor ()
	ClGenericSensor (std::string topicName)
	ClGenericSensor (std::string topicName, rclcpp::Duration timeout)
virtual	~ClGenericSensor ()
template<typename TOrthogonal , typename TClient >
void	onComponentInitialization ()
void	setTopicName (const std::string &topicName)
void	setTimeout (const rclcpp::Duration &timeout)
Public Member Functions inherited from smacc2::ISmaccClient
	ISmaccClient ()
virtual	~ISmaccClient ()
virtual void	onInitialize ()
virtual std::string	getName () const
template<typename TComponent >
TComponent *	getComponent ()
template<typename TComponent >
TComponent *	getComponent (std::string name)
template<typename TComponent >
TComponent *	getComponent (int index)
virtual smacc2::introspection::TypeInfo::Ptr	getType ()
ISmaccStateMachine *	getStateMachine ()
template<typename TSmaccSignal , typename T >
void	connectSignal (TSmaccSignal &signal, void(T::*callback)(), T *object)
template<typename SmaccClientType >
void	requiresClient (SmaccClientType *&storage)
void	getComponents (std::vector< std::shared_ptr< ISmaccComponent > > &components)
const std::vector< std::shared_ptr< ISmaccComponent > > &	iterateComponents () const
template<typename EventType >
void	postEvent (const EventType &ev)
template<typename EventType >
void	postEvent ()

Public Attributes
std::optional< std::string >	topicName_
std::optional< rclcpp::Duration >	timeout_

Additional Inherited Members
Protected Member Functions inherited from smacc2::ISmaccClient
template<typename TOrthogonal , typename TClient >
void	onComponentInitialization ()
template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()
template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createComponent (TArgs... targs)
template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createNamedComponent (std::string name, TArgs... targs)
rclcpp::Node::SharedPtr	getNode ()
rclcpp::Logger	getLogger ()
Protected Attributes inherited from smacc2::ISmaccClient
std::map< ComponentKey, std::shared_ptr< smacc2::ISmaccComponent > >	components_

Detailed Description

template<typename MessageType>
class cl_generic_sensor::ClGenericSensor< MessageType >

Definition at line 31 of file cl_generic_sensor.hpp.

Member Typedef Documentation

TMessageType

template<typename MessageType >

MessageType cl_generic_sensor::ClGenericSensor< MessageType >::TMessageType

Definition at line 34 of file cl_generic_sensor.hpp.

Constructor & Destructor Documentation

ClGenericSensor() [1/3]

template<typename MessageType >

cl_generic_sensor::ClGenericSensor< MessageType >::ClGenericSensor ( )

inline

Definition at line 42 of file cl_generic_sensor.hpp.

{}

ClGenericSensor() [2/3]

template<typename MessageType >

cl_generic_sensor::ClGenericSensor< MessageType >::ClGenericSensor ( std::string topicName )

inline

Definition at line 45 of file cl_generic_sensor.hpp.

: topicName_(topicName) {}

ClGenericSensor() [3/3]

template<typename MessageType >

cl_generic_sensor::ClGenericSensor< MessageType >::ClGenericSensor ( std::string topicName, rclcpp::Duration timeout )

inline

Definition at line 48 of file cl_generic_sensor.hpp.

  : topicName_(topicName), timeout_(timeout)
  {
  }

~ClGenericSensor()

template<typename MessageType >

virtual cl_generic_sensor::ClGenericSensor< MessageType >::~ClGenericSensor ( )

inlinevirtual

Definition at line 53 of file cl_generic_sensor.hpp.

{}

Member Function Documentation

onComponentInitialization()

template<typename MessageType >

template<typename TOrthogonal , typename TClient >

void cl_generic_sensor::ClGenericSensor< MessageType >::onComponentInitialization ( )

inline

Definition at line 59 of file cl_generic_sensor.hpp.

  {
    RCLCPP_INFO(getLogger(), "[ClGenericSensor] Initializing component-based sensor client");
 
    // Create the topic subscriber component
    // This component handles ROS topic subscription and posts SMACC events
    if (!topicName_)
    {
      RCLCPP_ERROR(
        getLogger(),
        "[ClGenericSensor] Topic name not set. Please configure topicName_ before "
        "initialization.");
      return;
    }
 
    this->createComponent<
      smacc2::client_core_components::CpTopicSubscriber<MessageType>, TOrthogonal, ClGenericSensor>(
      *topicName_);
 
    RCLCPP_INFO(
      getLogger(), "[ClGenericSensor] Created CpTopicSubscriber for topic: %s",
      topicName_->c_str());
 
    // Create the message timeout component (optional - only if timeout is configured)
    // This component monitors message reception and posts timeout events
    if (timeout_)
    {
      auto timeoutComponent = this->createComponent<
        cl_generic_sensor::components::CpMessageTimeout<MessageType>, TOrthogonal,
        ClGenericSensor>();
 
      // Configure the timeout duration
      timeoutComponent->timeout_ = timeout_;
 
      RCLCPP_INFO(
        getLogger(), "[ClGenericSensor] Created CpMessageTimeout with duration: %f seconds",
        timeout_->seconds());
    }
    else
    {
      RCLCPP_INFO(
        getLogger(), "[ClGenericSensor] Timeout not configured - watchdog functionality disabled");
    }
  }

References smacc2::ISmaccClient::createComponent(), smacc2::ISmaccClient::getLogger(), cl_generic_sensor::ClGenericSensor< MessageType >::timeout_, and cl_generic_sensor::ClGenericSensor< MessageType >::topicName_.

Here is the call graph for this function:

setTimeout()

template<typename MessageType >

void cl_generic_sensor::ClGenericSensor< MessageType >::setTimeout ( const rclcpp::Duration & timeout )

inline

Definition at line 108 of file cl_generic_sensor.hpp.

{ timeout_ = timeout; }

References cl_generic_sensor::ClGenericSensor< MessageType >::timeout_.

setTopicName()

template<typename MessageType >

void cl_generic_sensor::ClGenericSensor< MessageType >::setTopicName ( const std::string & topicName )

inline

Definition at line 105 of file cl_generic_sensor.hpp.

{ topicName_ = topicName; }

References cl_generic_sensor::ClGenericSensor< MessageType >::topicName_.

Member Data Documentation

timeout_

template<typename MessageType >

std::optional<rclcpp::Duration> cl_generic_sensor::ClGenericSensor< MessageType >::timeout_

Definition at line 40 of file cl_generic_sensor.hpp.

Referenced by cl_generic_sensor::ClGenericSensor< MessageType >::onComponentInitialization(), and cl_generic_sensor::ClGenericSensor< MessageType >::setTimeout().

topicName_

template<typename MessageType >

std::optional<std::string> cl_generic_sensor::ClGenericSensor< MessageType >::topicName_

Definition at line 37 of file cl_generic_sensor.hpp.

Referenced by cl_generic_sensor::ClGenericSensor< MessageType >::onComponentInitialization(), and cl_generic_sensor::ClGenericSensor< MessageType >::setTopicName().

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The documentation for this class was generated from the following file:

• smacc2_client_library/cl_generic_sensor/include/cl_generic_sensor/cl_generic_sensor.hpp