cl_nav2z::CbNav2ZClientBehaviorBase Class Reference

#include <cb_nav2z_client_behavior_base.hpp>

Inheritance diagram for cl_nav2z::CbNav2ZClientBehaviorBase:

Collaboration diagram for cl_nav2z::CbNav2ZClientBehaviorBase:

Public Member Functions
virtual	~CbNav2ZClientBehaviorBase ()
template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()
Public Member Functions inherited from smacc2::client_behavior_bases::CbActionClientBehaviorBase< nav2_msgs::action::NavigateToPose >
void	onStateOrthogonalAllocation ()
virtual	~CbActionClientBehaviorBase ()
void	onExit () override
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 ()

Protected Member Functions
virtual void	onNavigationActionSuccess (const components::CpNav2ActionInterface::WrappedResult &)
virtual void	onNavigationActionAbort (const components::CpNav2ActionInterface::WrappedResult &)
void	onActionSuccess (const WrappedResult &result) override
void	onActionAbort (const WrappedResult &result) override
Protected Member Functions inherited from smacc2::client_behavior_bases::CbActionClientBehaviorBase< nav2_msgs::action::NavigateToPose >
bool	sendGoal (Goal &goal)
void	cancelGoal ()
virtual void	onActionSuccess (const WrappedResult &result)
virtual void	onActionAbort (const WrappedResult &result)
virtual void	onActionFeedback (const Feedback &)
void	setActionClientName (std::string name)
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
components::CpNav2ActionInterface *	nav2ActionInterface_ = nullptr
rclcpp_action::ResultCode	navigationResult_ = rclcpp_action::ResultCode::UNKNOWN
Protected Attributes inherited from smacc2::client_behavior_bases::CbActionClientBehaviorBase< nav2_msgs::action::NavigateToPose >
ActionClientComponent *	actionClient_
std::string	actionClientName_
rclcpp_action::ResultCode	actionResult_
std::chrono::milliseconds	goalResponseTimeout_

Private Types
using	CbActionBase

Additional Inherited Members
Public Types inherited from smacc2::client_behavior_bases::CbActionClientBehaviorBase< nav2_msgs::action::NavigateToPose >
using	Goal
using	GoalHandle
using	WrappedResult
using	Feedback
using	ActionClientComponent

Detailed Description

Definition at line 39 of file cb_nav2z_client_behavior_base.hpp.

Member Typedef Documentation

CbActionBase

using cl_nav2z::CbNav2ZClientBehaviorBase::CbActionBase

private

Initial value:

 
    smacc2::client_behavior_bases::CbActionClientBehaviorBase<nav2_msgs::action::NavigateToPose>

Definition at line 42 of file cb_nav2z_client_behavior_base.hpp.

Constructor & Destructor Documentation

~CbNav2ZClientBehaviorBase()

cl_nav2z::CbNav2ZClientBehaviorBase::~CbNav2ZClientBehaviorBase ( )

virtual

Definition at line 26 of file cb_nav2z_client_behavior_base.cpp.

{}

Member Function Documentation

onActionAbort()

void cl_nav2z::CbNav2ZClientBehaviorBase::onActionAbort ( const WrappedResult & result )

overrideprotected

Definition at line 35 of file cb_nav2z_client_behavior_base.cpp.

{
  navigationResult_ = r.code;
  actionResult_ = r.code;
  this->onNavigationActionAbort(r);
}

References smacc2::client_behavior_bases::CbActionClientBehaviorBase< nav2_msgs::action::NavigateToPose >::actionResult_, navigationResult_, and onNavigationActionAbort().

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onActionSuccess()

void cl_nav2z::CbNav2ZClientBehaviorBase::onActionSuccess ( const WrappedResult & result )

overrideprotected

Definition at line 28 of file cb_nav2z_client_behavior_base.cpp.

{
  navigationResult_ = r.code;
  actionResult_ = r.code;
  this->onNavigationActionSuccess(r);
}

References smacc2::client_behavior_bases::CbActionClientBehaviorBase< nav2_msgs::action::NavigateToPose >::actionResult_, navigationResult_, and onNavigationActionSuccess().

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onNavigationActionAbort()

void cl_nav2z::CbNav2ZClientBehaviorBase::onNavigationActionAbort ( const components::CpNav2ActionInterface::WrappedResult & )

protectedvirtual

Definition at line 49 of file cb_nav2z_client_behavior_base.cpp.

{
  RCLCPP_INFO(getLogger(), "[%s] Propagating failure event from action server", getName().c_str());
  this->postFailureEvent();
}

References smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), and smacc2::SmaccAsyncClientBehavior::postFailureEvent().

Referenced by onActionAbort().

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onNavigationActionSuccess()

void cl_nav2z::CbNav2ZClientBehaviorBase::onNavigationActionSuccess ( const components::CpNav2ActionInterface::WrappedResult & )

protectedvirtual

Reimplemented in cl_nav2z::CbNavigateNextWaypointUntilReached.

Definition at line 42 of file cb_nav2z_client_behavior_base.cpp.

{
  RCLCPP_INFO(getLogger(), "[%s] Propagating success event from action server", getName().c_str());
  this->postSuccessEvent();
}

References smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), and smacc2::SmaccAsyncClientBehavior::postSuccessEvent().

Referenced by onActionSuccess().

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onStateOrthogonalAllocation()

template<typename TOrthogonal , typename TSourceObject >

void cl_nav2z::CbNav2ZClientBehaviorBase::onStateOrthogonalAllocation ( )

inline

Definition at line 49 of file cb_nav2z_client_behavior_base.hpp.

  {
    this->requiresComponent(nav2ActionInterface_, ComponentRequirement::HARD);
 
    // resolves actionClient_ and wires the result signals (see the template
    // header for the threading rationale); chain-break => bad_function_call
    CbActionBase::template onStateOrthogonalAllocation<TOrthogonal, TSourceObject>();
  }

References nav2ActionInterface_, onStateOrthogonalAllocation(), and smacc2::ISmaccClientBehavior::requiresComponent().

Referenced by onStateOrthogonalAllocation().

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Member Data Documentation

nav2ActionInterface_

components::CpNav2ActionInterface* cl_nav2z::CbNav2ZClientBehaviorBase::nav2ActionInterface_ = nullptr

protected

Definition at line 70 of file cb_nav2z_client_behavior_base.hpp.

Referenced by onStateOrthogonalAllocation().

navigationResult_

rclcpp_action::ResultCode cl_nav2z::CbNav2ZClientBehaviorBase::navigationResult_ = rclcpp_action::ResultCode::UNKNOWN

protected

Definition at line 72 of file cb_nav2z_client_behavior_base.hpp.

Referenced by onActionAbort(), onActionSuccess(), cl_nav2z::CbUndoPathBackwards::onExit(), and cl_nav2z::CbNavigateNextWaypointUntilReached::onNavigationActionSuccess().

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

• smacc2_client_library/cl_nav2z/cl_nav2z/include/cl_nav2z/client_behaviors/cb_nav2z_client_behavior_base.hpp
• smacc2_client_library/cl_nav2z/cl_nav2z/src/cl_nav2z/client_behaviors/cb_nav2z_client_behavior_base.cpp