cl_mission_tracker::CpDecisionManager Class Reference

Component that manages mission decision state. More...

#include <cp_decision_manager.hpp>

Inheritance diagram for cl_mission_tracker::CpDecisionManager:

Collaboration diagram for cl_mission_tracker::CpDecisionManager:

Public Member Functions
	CpDecisionManager ()=default
virtual	~CpDecisionManager ()=default
void	onInitialize () override
int	getDecisionCounter () const
	Get the current decision counter value.
int	nextDecision ()
	Increment the decision counter and return the previous value.
void	resetDecisionCounter ()
	Reset the decision counter to zero.
void	setDecisionCounter (int value)
	Set the decision counter to a specific value.
Public Member Functions inherited from smacc2::ISmaccComponent
	ISmaccComponent ()
virtual	~ISmaccComponent ()
virtual std::string	getName () const

Private Attributes
std::mutex	mutex_
int	decisionCounter_ = 0

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 manages mission decision state.

This component tracks the decision counter for mission sequencing. It provides thread-safe access to decision state, separating mission logic from the client orchestrator.

Definition at line 36 of file cp_decision_manager.hpp.

Constructor & Destructor Documentation

CpDecisionManager()

cl_mission_tracker::CpDecisionManager::CpDecisionManager ( )

default

~CpDecisionManager()

virtual cl_mission_tracker::CpDecisionManager::~CpDecisionManager ( )

virtualdefault

Member Function Documentation

getDecisionCounter()

int cl_mission_tracker::CpDecisionManager::getDecisionCounter ( ) const

inline

Get the current decision counter value.

Returns

Current decision count

Definition at line 49 of file cp_decision_manager.hpp.

  {
    std::lock_guard<std::mutex> lock(mutex_);
    return decisionCounter_;
  }

References decisionCounter_, and mutex_.

nextDecision()

int cl_mission_tracker::CpDecisionManager::nextDecision ( )

inline

Increment the decision counter and return the previous value.

Returns

Decision count before incrementing

Definition at line 59 of file cp_decision_manager.hpp.

  {
    std::lock_guard<std::mutex> lock(mutex_);
    int current = decisionCounter_;
    decisionCounter_++;
    RCLCPP_INFO_STREAM(
      getLogger(), "[CpDecisionManager] Decision " << current << " -> " << decisionCounter_);
    return current;
  }

References decisionCounter_, smacc2::ISmaccComponent::getLogger(), and mutex_.

Referenced by cl_mission_tracker::CbBatteryDecission::onOrthogonalAllocation().

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onInitialize()

void cl_mission_tracker::CpDecisionManager::onInitialize ( )

inlineoverridevirtual

Reimplemented from smacc2::ISmaccComponent.

Definition at line 43 of file cp_decision_manager.hpp.

{ RCLCPP_INFO(getLogger(), "[CpDecisionManager] Initialized"); }

References smacc2::ISmaccComponent::getLogger().

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resetDecisionCounter()

void cl_mission_tracker::CpDecisionManager::resetDecisionCounter ( )

inline

Reset the decision counter to zero.

Definition at line 72 of file cp_decision_manager.hpp.

  {
    std::lock_guard<std::mutex> lock(mutex_);
    decisionCounter_ = 0;
    RCLCPP_INFO(getLogger(), "[CpDecisionManager] Decision counter reset");
  }

References decisionCounter_, smacc2::ISmaccComponent::getLogger(), and mutex_.

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setDecisionCounter()

void cl_mission_tracker::CpDecisionManager::setDecisionCounter ( int value )

inline

Set the decision counter to a specific value.

Parameters

value

New counter value

Definition at line 83 of file cp_decision_manager.hpp.

  {
    std::lock_guard<std::mutex> lock(mutex_);
    decisionCounter_ = value;
    RCLCPP_INFO_STREAM(getLogger(), "[CpDecisionManager] Decision counter set to " << value);
  }

References decisionCounter_, smacc2::ISmaccComponent::getLogger(), and mutex_.

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Member Data Documentation

decisionCounter_

int cl_mission_tracker::CpDecisionManager::decisionCounter_ = 0

private

Definition at line 92 of file cp_decision_manager.hpp.

Referenced by getDecisionCounter(), nextDecision(), resetDecisionCounter(), and setDecisionCounter().

mutex_

std::mutex cl_mission_tracker::CpDecisionManager::mutex_

mutableprivate

Definition at line 91 of file cp_decision_manager.hpp.

Referenced by getDecisionCounter(), nextDecision(), resetDecisionCounter(), and setDecisionCounter().

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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/components/cp_decision_manager.hpp