cl_lifecycle_node::CpLifecycleStateTracker Class Reference

Component that tracks the current lifecycle state. More...

#include <cp_lifecycle_state_tracker.hpp>

Inheritance diagram for cl_lifecycle_node::CpLifecycleStateTracker:

Collaboration diagram for cl_lifecycle_node::CpLifecycleStateTracker:

Public Member Functions
	CpLifecycleStateTracker ()=default
virtual	~CpLifecycleStateTracker ()=default
void	updateState (const lifecycle_msgs::msg::State &state)
	Update the current state.
std::optional< lifecycle_msgs::msg::State >	getCurrentState () const
	Get the current lifecycle state.
std::optional< std::string >	getCurrentStateLabel () const
	Get the current state label as string.
uint8_t	getCurrentStateId () const
	Get the current state ID.
void	onInitialize () override
	Component initialization.
Public Member Functions inherited from smacc2::ISmaccComponent
	ISmaccComponent ()
virtual	~ISmaccComponent ()
virtual std::string	getName () const

Private Attributes
std::optional< lifecycle_msgs::msg::State >	currentState_
std::mutex	stateMutex_

Additional Inherited Members
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 ()
Protected Attributes inherited from smacc2::ISmaccComponent
ISmaccStateMachine *	stateMachine_
ISmaccClient *	owner_

Detailed Description

Component that tracks the current lifecycle state.

CpLifecycleStateTracker maintains knowledge of the current lifecycle node state, providing thread-safe query methods for state information.

Definition at line 33 of file cp_lifecycle_state_tracker.hpp.

Constructor & Destructor Documentation

CpLifecycleStateTracker()

cl_lifecycle_node::CpLifecycleStateTracker::CpLifecycleStateTracker ( )

default

~CpLifecycleStateTracker()

virtual cl_lifecycle_node::CpLifecycleStateTracker::~CpLifecycleStateTracker ( )

virtualdefault

Member Function Documentation

getCurrentState()

std::optional< lifecycle_msgs::msg::State > cl_lifecycle_node::CpLifecycleStateTracker::getCurrentState

(

)

const

Get the current lifecycle state.

Returns

Optional state (empty if not yet initialized)

Definition at line 34 of file cp_lifecycle_state_tracker.cpp.

{
  std::lock_guard<std::mutex> lock(stateMutex_);
  return currentState_;
}

References currentState_, and stateMutex_.

getCurrentStateId()

uint8_t cl_lifecycle_node::CpLifecycleStateTracker::getCurrentStateId

(

)

const

Get the current state ID.

Returns

State ID (0 if not yet initialized)

Definition at line 50 of file cp_lifecycle_state_tracker.cpp.

{
  std::lock_guard<std::mutex> lock(stateMutex_);
  if (currentState_)
  {
    return currentState_->id;
  }
  return 0;
}

References currentState_, and stateMutex_.

getCurrentStateLabel()

std::optional< std::string > cl_lifecycle_node::CpLifecycleStateTracker::getCurrentStateLabel

(

)

const

Get the current state label as string.

Returns

Optional state label (empty if not yet initialized)

Definition at line 40 of file cp_lifecycle_state_tracker.cpp.

{
  std::lock_guard<std::mutex> lock(stateMutex_);
  if (currentState_)
  {
    return currentState_->label;
  }
  return std::nullopt;
}

References currentState_, and stateMutex_.

onInitialize()

void cl_lifecycle_node::CpLifecycleStateTracker::onInitialize ( )

overridevirtual

Component initialization.

Reimplemented from smacc2::ISmaccComponent.

Definition at line 19 of file cp_lifecycle_state_tracker.cpp.

{
  // Initialize with empty state
  RCLCPP_INFO(getLogger(), "[CpLifecycleStateTracker] Component initialized");
}

References smacc2::ISmaccComponent::getLogger().

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updateState()

void cl_lifecycle_node::CpLifecycleStateTracker::updateState

(

const lifecycle_msgs::msg::State &

state

)

Update the current state.

Parameters

state

New lifecycle state

Definition at line 25 of file cp_lifecycle_state_tracker.cpp.

{
  std::lock_guard<std::mutex> lock(stateMutex_);
  currentState_ = state;
  RCLCPP_DEBUG(
    getLogger(), "[CpLifecycleStateTracker] State updated to: %s (id: %d)", state.label.c_str(),
    state.id);
}

References currentState_, smacc2::ISmaccComponent::getLogger(), and stateMutex_.

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Member Data Documentation

currentState_

std::optional<lifecycle_msgs::msg::State> cl_lifecycle_node::CpLifecycleStateTracker::currentState_

private

Definition at line 69 of file cp_lifecycle_state_tracker.hpp.

Referenced by getCurrentState(), getCurrentStateId(), getCurrentStateLabel(), and updateState().

stateMutex_

std::mutex cl_lifecycle_node::CpLifecycleStateTracker::stateMutex_

mutableprivate

Definition at line 70 of file cp_lifecycle_state_tracker.hpp.

Referenced by getCurrentState(), getCurrentStateId(), getCurrentStateLabel(), and updateState().

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

• smacc2_client_library/cl_lifecycle_node/include/cl_lifecycle_node/components/cp_lifecycle_state_tracker.hpp
• smacc2_client_library/cl_lifecycle_node/src/cl_lifecycle_node/components/cp_lifecycle_state_tracker.cpp