#include <cl_lifecycle_node.hpp>

Inheritance diagram for cl_lifecycle_node::ClLifecycleNode:

Collaboration diagram for cl_lifecycle_node::ClLifecycleNode:

Public Member Functions
	ClLifecycleNode (std::string nodeName)

virtual	~ClLifecycleNode ()

void	onInitialize () override

void	changeState (uint8_t state)

void	configure ()

void	activate ()

void	deactivate ()

void	cleanup ()

void	shutdown ()

void	destroy ()

template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()
	Configure component for event posting during orthogonal allocation.

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

virtual	~ISmaccClient ()

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 ()

Private Attributes
rclcpp::Client< lifecycle_msgs::srv::GetState >::SharedPtr	client_get_state_

rclcpp::Client< lifecycle_msgs::srv::ChangeState >::SharedPtr	client_change_state_

std::string	nodeName_

CpLifecycleEventMonitor *	eventMonitor_

const std::string	node_get_state_topic = "/get_state"

const std::string	node_change_state_topic = "/change_state"

lifecycle_msgs::msg::TransitionEvent::SharedPtr	lastTransitionEvent_

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

Definition at line 194 of file cl_lifecycle_node.hpp.

Constructor & Destructor Documentation

◆ ClLifecycleNode()

cl_lifecycle_node::ClLifecycleNode::ClLifecycleNode ( std::string nodeName )

Definition at line 26 of file cl_lifecycle_node.cpp.

: nodeName_(node_name), eventMonitor_(nullptr)
{
}

◆ ~ClLifecycleNode()

cl_lifecycle_node::ClLifecycleNode::~ClLifecycleNode ( )

virtual

Definition at line 31 of file cl_lifecycle_node.cpp.

31{}

Member Function Documentation

◆ activate()

void cl_lifecycle_node::ClLifecycleNode::activate ( )

Definition at line 50 of file cl_lifecycle_node.cpp.

{
  changeState(lifecycle_msgs::msg::Transition::TRANSITION_ACTIVATE);
}

References changeState().

Referenced by cl_lifecycle_node::CbActivate::onEntry().

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◆ changeState()

void cl_lifecycle_node::ClLifecycleNode::changeState ( uint8_t state )

Definition at line 42 of file cl_lifecycle_node.cpp.

{
  auto request = std::make_shared<lifecycle_msgs::srv::ChangeState::Request>();
  request->transition.id = state;
  auto future = client_change_state_->async_send_request(request);
  future.wait();
}

References client_change_state_.

Referenced by activate(), cleanup(), configure(), deactivate(), and shutdown().

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◆ cleanup()

void cl_lifecycle_node::ClLifecycleNode::cleanup ( )

Definition at line 65 of file cl_lifecycle_node.cpp.

{
  changeState(lifecycle_msgs::msg::Transition::TRANSITION_CLEANUP);
}

References changeState().

Referenced by cl_lifecycle_node::CbCleanup::onEntry().

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◆ configure()

void cl_lifecycle_node::ClLifecycleNode::configure ( )

Definition at line 60 of file cl_lifecycle_node.cpp.

{
  changeState(lifecycle_msgs::msg::Transition::TRANSITION_CONFIGURE);
}

References changeState().

Referenced by cl_lifecycle_node::CbConfigure::onEntry().

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◆ deactivate()

void cl_lifecycle_node::ClLifecycleNode::deactivate ( )

Definition at line 55 of file cl_lifecycle_node.cpp.

{
  changeState(lifecycle_msgs::msg::Transition::TRANSITION_DEACTIVATE);
}

References changeState().

Referenced by cl_lifecycle_node::CbDeactivate::onEntry(), and cl_lifecycle_node::CbDeactivateOnExit::onExit().

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◆ destroy()

void cl_lifecycle_node::ClLifecycleNode::destroy ( )

Referenced by cl_lifecycle_node::CbDestroy::onEntry().

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◆ onInitialize()

void cl_lifecycle_node::ClLifecycleNode::onInitialize ( )

overridevirtual

Reimplemented from smacc2::ISmaccClient.

Definition at line 33 of file cl_lifecycle_node.cpp.

{
  // Create service clients
  client_get_state_ = this->getNode()->create_client<lifecycle_msgs::srv::GetState>(
    this->nodeName_ + node_get_state_topic);
  client_change_state_ = this->getNode()->create_client<lifecycle_msgs::srv::ChangeState>(
    this->nodeName_ + node_change_state_topic);
}

References client_change_state_, client_get_state_, smacc2::ISmaccClient::getNode(), node_change_state_topic, node_get_state_topic, and nodeName_.

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◆ onStateOrthogonalAllocation()

template<typename TOrthogonal , typename TSourceObject >

void cl_lifecycle_node::ClLifecycleNode::onStateOrthogonalAllocation ( )

inline

Configure component for event posting during orthogonal allocation.

Definition at line 228 of file cl_lifecycle_node.hpp.

  {
    // Create and register component with orthogonal
    if (!eventMonitor_)
    {
      eventMonitor_ =
        this->template createComponent<CpLifecycleEventMonitor, TOrthogonal, ClLifecycleNode>(
          nodeName_);
    }
 
    // Configure component for this orthogonal
    eventMonitor_->template onStateOrthogonalAllocation<TOrthogonal, ClLifecycleNode>();
  }

References smacc2::ISmaccClient::createComponent(), eventMonitor_, nodeName_, and onStateOrthogonalAllocation().

Referenced by onStateOrthogonalAllocation().

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◆ shutdown()

void cl_lifecycle_node::ClLifecycleNode::shutdown ( )

Definition at line 70 of file cl_lifecycle_node.cpp.

{
  changeState(lifecycle_msgs::msg::Transition::TRANSITION_UNCONFIGURED_SHUTDOWN);
}

References changeState().

Referenced by cl_lifecycle_node::CbShutdown::onEntry().

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Member Data Documentation

◆ client_change_state_

rclcpp::Client<lifecycle_msgs::srv::ChangeState>::SharedPtr cl_lifecycle_node::ClLifecycleNode::client_change_state_

private

Definition at line 245 of file cl_lifecycle_node.hpp.

Referenced by changeState(), and onInitialize().

◆ client_get_state_

rclcpp::Client<lifecycle_msgs::srv::GetState>::SharedPtr cl_lifecycle_node::ClLifecycleNode::client_get_state_

private

Definition at line 244 of file cl_lifecycle_node.hpp.

Referenced by onInitialize().

◆ eventMonitor_

CpLifecycleEventMonitor* cl_lifecycle_node::ClLifecycleNode::eventMonitor_

private

Definition at line 250 of file cl_lifecycle_node.hpp.

Referenced by onStateOrthogonalAllocation().

◆ lastTransitionEvent_

lifecycle_msgs::msg::TransitionEvent::SharedPtr cl_lifecycle_node::ClLifecycleNode::lastTransitionEvent_

private

Definition at line 254 of file cl_lifecycle_node.hpp.

◆ node_change_state_topic

const std::string cl_lifecycle_node::ClLifecycleNode::node_change_state_topic = "/change_state"

private

Definition at line 252 of file cl_lifecycle_node.hpp.

Referenced by onInitialize().

◆ node_get_state_topic

const std::string cl_lifecycle_node::ClLifecycleNode::node_get_state_topic = "/get_state"

private

Definition at line 251 of file cl_lifecycle_node.hpp.

Referenced by onInitialize().

◆ nodeName_

std::string cl_lifecycle_node::ClLifecycleNode::nodeName_

private

Definition at line 247 of file cl_lifecycle_node.hpp.

Referenced by onInitialize(), and onStateOrthogonalAllocation().

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

smacc2_client_library/cl_lifecycle_node/include/cl_lifecycle_node/cl_lifecycle_node.hpp
smacc2_client_library/cl_lifecycle_node/src/cl_lifecycle_node/cl_lifecycle_node.cpp

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ClLifecycleNode()

◆ ~ClLifecycleNode()

Member Function Documentation

◆ activate()

◆ changeState()

◆ cleanup()

◆ configure()

◆ deactivate()

◆ destroy()

◆ onInitialize()

◆ onStateOrthogonalAllocation()

◆ shutdown()

Member Data Documentation

◆ client_change_state_

◆ client_get_state_

◆ eventMonitor_

◆ lastTransitionEvent_

◆ node_change_state_topic

◆ node_get_state_topic

◆ nodeName_