cl_mission_tracker::CbBatteryDecission Class Reference

Behavior that makes mission decisions based on a counter. More...

#include <cb_battery_decission.hpp>

Inheritance diagram for cl_mission_tracker::CbBatteryDecission:

Collaboration diagram for cl_mission_tracker::CbBatteryDecission:

Public Member Functions
	CbBatteryDecission ()
virtual	~CbBatteryDecission ()
virtual void	onEntry () override
virtual void	onExit () override
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
Public Member Functions inherited from smacc2::SmaccAsyncClientBehavior
template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()
virtual	~SmaccAsyncClientBehavior ()
template<typename TCallback , typename T >
smacc2::SmaccSignalConnection	onSuccess (TCallback callback, T *object)
template<typename TCallback , typename T >
smacc2::SmaccSignalConnection	onFinished (TCallback callback, T *object)
template<typename TCallback , typename T >
smacc2::SmaccSignalConnection	onFailure (TCallback callback, T *object)
void	requestForceFinish ()
void	executeOnEntry () override
void	executeOnExit () override
void	waitOnEntryThread (bool requestFinish)
template<typename TCallbackMethod , typename T >
smacc2::SmaccSignalConnection	onSuccess (TCallbackMethod callback, T *object)
template<typename TCallbackMethod , typename T >
smacc2::SmaccSignalConnection	onFinished (TCallbackMethod callback, T *object)
template<typename TCallbackMethod , typename T >
smacc2::SmaccSignalConnection	onFailure (TCallbackMethod callback, T *object)
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)

Private Attributes
CpDecisionManager *	decisionManager_ = nullptr
std::function< void()>	postEventFn_

Additional Inherited Members
Protected Member Functions inherited from smacc2::SmaccAsyncClientBehavior
void	postSuccessEvent ()
void	postFailureEvent ()
virtual void	dispose () override
bool	isShutdownRequested ()
	onEntry is executed in a new thread. However the current state cannot be left until the onEntry thread finishes. This flag can be checked from the onEntry thread to force finishing the thread.
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 rclcpp::Node::SharedPtr	getNode () const
virtual rclcpp::Logger	getLogger () const

Detailed Description

Behavior that makes mission decisions based on a counter.

This behavior uses requiresComponent() to access:

• CpDecisionManager: For decision counter state

Based on the current decision count, it posts different events to control the mission flow.

Definition at line 39 of file cb_battery_decission.hpp.

Constructor & Destructor Documentation

CbBatteryDecission()

cl_mission_tracker::CbBatteryDecission::CbBatteryDecission ( )

inline

Definition at line 47 of file cb_battery_decission.hpp.

{}

~CbBatteryDecission()

virtual cl_mission_tracker::CbBatteryDecission::~CbBatteryDecission ( )

inlinevirtual

Definition at line 49 of file cb_battery_decission.hpp.

{}

Member Function Documentation

onEntry()

virtual void cl_mission_tracker::CbBatteryDecission::onEntry ( )

inlineoverridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 51 of file cb_battery_decission.hpp.

{ this->postEventFn_(); }

References postEventFn_.

onExit()

virtual void cl_mission_tracker::CbBatteryDecission::onExit ( )

inlineoverridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 53 of file cb_battery_decission.hpp.

{}

onOrthogonalAllocation()

template<typename TOrthogonal , typename TSourceObject >

void cl_mission_tracker::CbBatteryDecission::onOrthogonalAllocation ( )

inline

Definition at line 56 of file cb_battery_decission.hpp.

  {
    postEventFn_ = [this]()
    {
      // Get component via requiresComponent pattern (NOT requiresClient!)
      this->requiresComponent(decisionManager_, true);
 
      // Get current decision and advance counter
      int decisionCount = decisionManager_->nextDecision();
 
      switch (decisionCount)
      {
        case 0:
        case 2:
        case 4:
          this->postEvent<EvBatteryLoad<TSourceObject, TOrthogonal>>();
          break;
        case 1:
          this->postEvent<EvRadialMotion<TSourceObject, TOrthogonal>>();
          break;
        case 3:
          this->postEvent<EvSPattern<TSourceObject, TOrthogonal>>();
          break;
        case 5:
          this->postEvent<EvFPattern<TSourceObject, TOrthogonal>>();
          break;
        default:
          break;
      }
    };
  }

References decisionManager_, cl_mission_tracker::CpDecisionManager::nextDecision(), smacc2::ISmaccClientBehavior::postEvent(), and smacc2::ISmaccClientBehavior::requiresComponent().

Here is the call graph for this function:

Member Data Documentation

decisionManager_

CpDecisionManager* cl_mission_tracker::CbBatteryDecission::decisionManager_ = nullptr

private

Definition at line 43 of file cb_battery_decission.hpp.

Referenced by onOrthogonalAllocation().

postEventFn_

std::function<void()> cl_mission_tracker::CbBatteryDecission::postEventFn_

private

Definition at line 44 of file cb_battery_decission.hpp.

Referenced by onEntry().

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

• smacc2_client_library/cl_mission_tracker/include/cl_mission_tracker/client_behaviors/cb_battery_decission.hpp