#include <cp_message_timeout.hpp>

Inheritance diagram for cl_generic_sensor::components::CpMessageTimeout< MessageType >:

Collaboration diagram for cl_generic_sensor::components::CpMessageTimeout< MessageType >:

Public Types
typedef MessageType	TMessageType

Public Member Functions
	CpMessageTimeout ()

virtual	~CpMessageTimeout ()

template<typename T >
boost::signals2::connection	onMessageTimeout (void(T::callback)(), T object)

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

void	onInitialize () override

Public Member Functions inherited from smacc2::ISmaccComponent
	ISmaccComponent ()

virtual	~ISmaccComponent ()

virtual std::string	getName () const

Public Attributes
SmaccSignal< void()>	onMessageTimeout_

std::optional< rclcpp::Duration >	timeout_

std::function< void()>	postTimeoutMessageEvent

Protected Member Functions
void	resetTimer (const MessageType &)

Protected Member Functions inherited from smacc2::ISmaccComponent
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 >
void	onStateOrthogonalAllocation ()

template<typename TComponent >
void	requiresComponent (TComponent *&requiredComponentStorage, ComponentRequirement requirementType=ComponentRequirement::SOFT)

template<typename TComponent >
void	requiresComponent (std::string name, TComponent *&requiredComponentStorage, ComponentRequirement requirementType=ComponentRequirement::SOFT)

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

ISmaccStateMachine *	getStateMachine ()

Private Member Functions
void	timeoutCallback ()

Private Attributes
rclcpp::TimerBase::SharedPtr	timeoutTimer_

bool	initialized_

Additional Inherited Members
Protected Attributes inherited from smacc2::ISmaccComponent
ISmaccStateMachine *	stateMachine_

ISmaccClient *	owner_

Detailed Description

template<typename MessageType>
class cl_generic_sensor::components::CpMessageTimeout< MessageType >

Definition at line 38 of file cp_message_timeout.hpp.

Member Typedef Documentation

◆ TMessageType

template<typename MessageType >

MessageType cl_generic_sensor::components::CpMessageTimeout< MessageType >::TMessageType

Definition at line 41 of file cp_message_timeout.hpp.

Constructor & Destructor Documentation

◆ CpMessageTimeout()

template<typename MessageType >

cl_generic_sensor::components::CpMessageTimeout< MessageType >::CpMessageTimeout ( )

inline

Definition at line 49 of file cp_message_timeout.hpp.

49: initialized_(false) {}

cl_generic_sensor::components::CpMessageTimeout::initialized_

bool initialized_

Definition cp_message_timeout.hpp:128

◆ ~CpMessageTimeout()

template<typename MessageType >

virtual cl_generic_sensor::components::CpMessageTimeout< MessageType >::~CpMessageTimeout ( )

inlinevirtual

Definition at line 51 of file cp_message_timeout.hpp.

51{}

Member Function Documentation

◆ onComponentInitialization()

template<typename MessageType >

template<typename TOrthogonal , typename TSourceObject >

void cl_generic_sensor::components::CpMessageTimeout< MessageType >::onComponentInitialization ( )

inline

Definition at line 65 of file cp_message_timeout.hpp.

  {
    // Setup the event posting function with proper template types
    this->postTimeoutMessageEvent = [this]()
    {
      // Emit signal
      this->onMessageTimeout_();
 
      // Post SMACC event
      auto event = new EvTopicMessageTimeout<TSourceObject, TOrthogonal>();
      this->postEvent(event);
    };
 
    // Require the CpTopicSubscriber component to monitor messages
    smacc2::client_core_components::CpTopicSubscriber<MessageType> * subscriberComponent;
    this->requiresComponent(subscriberComponent);
 
    // Subscribe to message received signal to reset timer
    subscriberComponent->onMessageReceived(&CpMessageTimeout<MessageType>::resetTimer, this);
  }

References smacc2::client_core_components::CpTopicSubscriber< MessageType >::onMessageReceived(), cl_generic_sensor::components::CpMessageTimeout< MessageType >::onMessageTimeout_, smacc2::ISmaccComponent::postEvent(), and smacc2::ISmaccComponent::requiresComponent().

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◆ onInitialize()

template<typename MessageType >

void cl_generic_sensor::components::CpMessageTimeout< MessageType >::onInitialize ( )

inlineoverridevirtual

Reimplemented from smacc2::ISmaccComponent.

Definition at line 87 of file cp_message_timeout.hpp.

  {
    if (!initialized_)
    {
      if (timeout_)
      {
        RCLCPP_INFO_STREAM(
          getLogger(), "[" << this->getName()
                           << "] Initializing message timeout watchdog with duration: "
                           << timeout_->seconds() << "s");
 
        // Create the timeout timer
        timeoutTimer_ = rclcpp::create_timer(
          this->getNode(), this->getNode()->get_clock(), *timeout_,
          std::bind(&CpMessageTimeout<MessageType>::timeoutCallback, this));
 
        timeoutTimer_->reset();
      }
      else
      {
        RCLCPP_WARN(
          getLogger(),
          "[CpMessageTimeout] Timeout duration not set, skipping timeout watchdog functionality");
      }
 
      initialized_ = true;
    }
  }

References smacc2::ISmaccComponent::getLogger(), smacc2::ISmaccComponent::getName(), smacc2::ISmaccComponent::getNode(), cl_generic_sensor::components::CpMessageTimeout< MessageType >::initialized_, cl_generic_sensor::components::CpMessageTimeout< MessageType >::timeout_, and cl_generic_sensor::components::CpMessageTimeout< MessageType >::timeoutTimer_.

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◆ onMessageTimeout()

template<typename MessageType >

template<typename T >

boost::signals2::connection cl_generic_sensor::components::CpMessageTimeout< MessageType >::onMessageTimeout	(	void(T::*	callback )(),
		T *	object )

inline

Definition at line 55 of file cp_message_timeout.hpp.

  {
    return this->getStateMachine()->createSignalConnection(onMessageTimeout_, callback, object);
  }

References smacc2::ISmaccStateMachine::createSignalConnection(), and smacc2::ISmaccComponent::getStateMachine().

Referenced by cl_generic_sensor::CbDefaultGenericSensorBehavior< ClientType >::onStateOrthogonalAllocation().

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◆ resetTimer()

template<typename MessageType >

void cl_generic_sensor::components::CpMessageTimeout< MessageType >::resetTimer ( const MessageType & )

inlineprotected

Definition at line 118 of file cp_message_timeout.hpp.

  {
    if (timeoutTimer_)
    {
      timeoutTimer_->reset();
    }
  }

References cl_generic_sensor::components::CpMessageTimeout< MessageType >::timeoutTimer_.

◆ timeoutCallback()

template<typename MessageType >

void cl_generic_sensor::components::CpMessageTimeout< MessageType >::timeoutCallback ( )

inlineprivate

Definition at line 131 of file cp_message_timeout.hpp.

  {
    RCLCPP_WARN(
      getLogger(), "[CpMessageTimeout] Message timeout occurred after %f seconds",
      timeout_->seconds());
 
    if (postTimeoutMessageEvent)
    {
      postTimeoutMessageEvent();
    }
  }