#include <cb_moveit2z_client_behavior_base.hpp>

Inheritance diagram for cl_moveit2z::CbMoveit2zClientBehaviorBase:

Collaboration diagram for cl_moveit2z::CbMoveit2zClientBehaviorBase:

Public Member Functions
template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()

virtual	~CbMoveit2zClientBehaviorBase ()

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)

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

virtual void	onEntry ()

virtual void	onExit ()

Protected Member Functions
void	postMotionSuccess ()

void	postMotionFailure ()

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

Protected Attributes
CpMoveGroupInterface *	cpMoveGroup_ = nullptr

CpMotionPlanner *	cpMotionPlanner_ = nullptr

CpTrajectoryExecutor *	cpTrajectoryExecutor_ = nullptr

CpTrajectoryHistory *	cpTrajectoryHistory_ = nullptr

Detailed Description

Definition at line 43 of file cb_moveit2z_client_behavior_base.hpp.

Constructor & Destructor Documentation

◆ ~CbMoveit2zClientBehaviorBase()

virtual cl_moveit2z::CbMoveit2zClientBehaviorBase::~CbMoveit2zClientBehaviorBase ( )

inlinevirtual

Definition at line 60 of file cb_moveit2z_client_behavior_base.hpp.

60{}

Member Function Documentation

◆ onStateOrthogonalAllocation()

template<typename TOrthogonal , typename TSourceObject >

void cl_moveit2z::CbMoveit2zClientBehaviorBase::onStateOrthogonalAllocation ( )

inline

Definition at line 47 of file cb_moveit2z_client_behavior_base.hpp.

  {
    // CpMoveGroupInterface is always created by ClMoveit2z; the rest are
    // optional per-SM opt-ins (preferred path when present, legacy fallback
    // otherwise - same semantics the behaviors implemented individually)
    this->requiresComponent(cpMoveGroup_, smacc2::ComponentRequirement::HARD);
    this->requiresComponent(cpMotionPlanner_, smacc2::ComponentRequirement::SOFT);
    this->requiresComponent(cpTrajectoryExecutor_, smacc2::ComponentRequirement::SOFT);
    this->requiresComponent(cpTrajectoryHistory_, smacc2::ComponentRequirement::SOFT);
 
    smacc2::SmaccAsyncClientBehavior::onStateOrthogonalAllocation<TOrthogonal, TSourceObject>();
  }

References cpMotionPlanner_, cpMoveGroup_, cpTrajectoryExecutor_, cpTrajectoryHistory_, smacc2::HARD, smacc2::SmaccAsyncClientBehavior::onStateOrthogonalAllocation(), smacc2::ISmaccClientBehavior::requiresComponent(), and smacc2::SOFT.

Referenced by cl_moveit2z::CbAttachObject::onStateOrthogonalAllocation(), cl_moveit2z::CbDetachObject::onStateOrthogonalAllocation(), and cl_moveit2z::CbMoveEndEffectorTrajectory::onStateOrthogonalAllocation().

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◆ postMotionFailure()

void cl_moveit2z::CbMoveit2zClientBehaviorBase::postMotionFailure ( )

inlineprotected

Definition at line 74 of file cb_moveit2z_client_behavior_base.hpp.

  {
    RCLCPP_WARN_STREAM(
      getLogger(), "[" << getName() << "] motion execution failed. Throwing fail event.");
    if (cpMoveGroup_ != nullptr)
    {
      cpMoveGroup_->postEventMotionExecutionFailed();
    }
    this->postFailureEvent();
  }

References cpMoveGroup_, smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), cl_moveit2z::CpMoveGroupInterface::postEventMotionExecutionFailed(), and smacc2::SmaccAsyncClientBehavior::postFailureEvent().

Referenced by cl_moveit2z::CbMoveJoints::moveJoints(), cl_moveit2z::CbMoveEndEffector::moveToAbsolutePose(), and cl_moveit2z::CbUndoLastTrajectory::onEntry().

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◆ postMotionSuccess()

void cl_moveit2z::CbMoveit2zClientBehaviorBase::postMotionSuccess ( )

inlineprotected

Definition at line 63 of file cb_moveit2z_client_behavior_base.hpp.

  {
    RCLCPP_INFO_STREAM(
      getLogger(), "[" << getName() << "] motion execution succeeded. Throwing success event.");
    if (cpMoveGroup_ != nullptr)
    {
      cpMoveGroup_->postEventMotionExecutionSucceeded();
    }
    this->postSuccessEvent();
  }