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::SmaccAsyncClientBehavior
template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()
virtual	~SmaccAsyncClientBehavior ()
template<typename TCallback , typename T >
boost::signals2::connection	onSuccess (TCallback callback, T *object)
template<typename TCallback , typename T >
boost::signals2::connection	onFinished (TCallback callback, T *object)
template<typename TCallback , typename T >
boost::signals2::connection	onFailure (TCallback callback, T *object)
void	requestForceFinish ()
void	executeOnEntry () override
void	executeOnExit () override
void	waitOnEntryThread (bool requestFinish)
template<typename TCallbackMethod , typename T >
boost::signals2::connection	onSuccess (TCallbackMethod callback, T *object)
template<typename TCallbackMethod , typename T >
boost::signals2::connection	onFinished (TCallbackMethod callback, T *object)
template<typename TCallbackMethod , typename T >
boost::signals2::connection	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)
virtual void	onEntry ()
virtual void	onExit ()

Protected Member Functions
void	sendGoal (nav2_msgs::action::NavigateToPose::Goal &goal)
void	cancelGoal ()
template<typename T >
boost::signals2::connection	onNavigationSucceeded (void(T::*callback)(const components::CpNav2ActionInterface::WrappedResult &), T *object)
template<typename T >
boost::signals2::connection	onNavigationAborted (void(T::*callback)(const components::CpNav2ActionInterface::WrappedResult &), T *object)
template<typename T >
boost::signals2::connection	onNavigationCancelled (void(T::*callback)(const components::CpNav2ActionInterface::WrappedResult &), T *object)
virtual void	onNavigationResult (const components::CpNav2ActionInterface::WrappedResult &)
virtual void	onNavigationActionSuccess (const components::CpNav2ActionInterface::WrappedResult &)
virtual void	onNavigationActionAbort (const components::CpNav2ActionInterface::WrappedResult &)
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
smacc2::client_core_components::CpActionClient< nav2_msgs::action::NavigateToPose > *	actionClient_ = nullptr
rclcpp_action::ResultCode	navigationResult_

Detailed Description

Definition at line 31 of file cb_nav2z_client_behavior_base.hpp.

Constructor & Destructor Documentation

~CbNav2ZClientBehaviorBase()

cl_nav2z::CbNav2ZClientBehaviorBase::~CbNav2ZClientBehaviorBase ( )

virtual

Definition at line 25 of file cb_nav2z_client_behavior_base.cpp.

{}

Member Function Documentation

cancelGoal()

void cl_nav2z::CbNav2ZClientBehaviorBase::cancelGoal ( )

inlineprotected

Definition at line 56 of file cb_nav2z_client_behavior_base.hpp.

  {
    if (nav2ActionInterface_)
    {
      nav2ActionInterface_->cancelNavigation();
    }
  }

References cl_nav2z::components::CpNav2ActionInterface::cancelNavigation(), and nav2ActionInterface_.

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onNavigationAborted()

template<typename T >

boost::signals2::connection cl_nav2z::CbNav2ZClientBehaviorBase::onNavigationAborted ( void(T::* callback )(const components::CpNav2ActionInterface::WrappedResult &), T * object )

inlineprotected

Definition at line 77 of file cb_nav2z_client_behavior_base.hpp.

  {
    if (nav2ActionInterface_)
    {
      return nav2ActionInterface_->onNavigationAborted(callback, object);
    }
    return boost::signals2::connection();
  }

References nav2ActionInterface_, and cl_nav2z::components::CpNav2ActionInterface::onNavigationAborted().

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onNavigationActionAbort()

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

inlineprotectedvirtual

Definition at line 117 of file cb_nav2z_client_behavior_base.hpp.

{}

onNavigationActionSuccess()

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

inlineprotectedvirtual

Reimplemented in cl_nav2z::CbNavigateNextWaypointUntilReached.

Definition at line 114 of file cb_nav2z_client_behavior_base.hpp.

  {
  }

onNavigationCancelled()

template<typename T >

boost::signals2::connection cl_nav2z::CbNav2ZClientBehaviorBase::onNavigationCancelled ( void(T::* callback )(const components::CpNav2ActionInterface::WrappedResult &), T * object )

inlineprotected

Definition at line 88 of file cb_nav2z_client_behavior_base.hpp.

  {
    if (nav2ActionInterface_)
    {
      return nav2ActionInterface_->onNavigationCancelled(callback, object);
    }
    return boost::signals2::connection();
  }

References nav2ActionInterface_, and cl_nav2z::components::CpNav2ActionInterface::onNavigationCancelled().

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onNavigationResult()

virtual void cl_nav2z::CbNav2ZClientBehaviorBase::onNavigationResult ( const components::CpNav2ActionInterface::WrappedResult & )

inlineprotectedvirtual

Definition at line 113 of file cb_nav2z_client_behavior_base.hpp.

{}

onNavigationSucceeded()

template<typename T >

boost::signals2::connection cl_nav2z::CbNav2ZClientBehaviorBase::onNavigationSucceeded ( void(T::* callback )(const components::CpNav2ActionInterface::WrappedResult &), T * object )

inlineprotected

Definition at line 66 of file cb_nav2z_client_behavior_base.hpp.

  {
    if (nav2ActionInterface_)
    {
      return nav2ActionInterface_->onNavigationSucceeded(callback, object);
    }
    return boost::signals2::connection();
  }

References nav2ActionInterface_, and cl_nav2z::components::CpNav2ActionInterface::onNavigationSucceeded().

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onStateOrthogonalAllocation()

template<typename TOrthogonal , typename TSourceObject >

void cl_nav2z::CbNav2ZClientBehaviorBase::onStateOrthogonalAllocation ( )

inline

Definition at line 37 of file cb_nav2z_client_behavior_base.hpp.

  {
    // NEW: Pure component-based approach - no client dependencies
    this->requiresComponent(nav2ActionInterface_, ComponentRequirement::HARD);
    this->requiresComponent(actionClient_, ComponentRequirement::HARD);
 
    smacc2::SmaccAsyncClientBehavior::onStateOrthogonalAllocation<TOrthogonal, TSourceObject>();
  }

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

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sendGoal()

void cl_nav2z::CbNav2ZClientBehaviorBase::sendGoal ( nav2_msgs::action::NavigateToPose::Goal & goal )

inlineprotected

Definition at line 48 of file cb_nav2z_client_behavior_base.hpp.

  {
    if (nav2ActionInterface_)
    {
      nav2ActionInterface_->sendGoal(goal);
    }
  }

References nav2ActionInterface_, and cl_nav2z::components::CpNav2ActionInterface::sendGoal().

Referenced by cl_nav2z::CbNavigateGlobalPosition::execute(), cl_nav2z::CbAbsoluteRotate::onEntry(), cl_nav2z::CbNavigateBackwards::onEntry(), cl_nav2z::CbNavigateForward::onEntry(), cl_nav2z::CbRotate::onEntry(), and cl_nav2z::CbUndoPathBackwards::onEntry().

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Member Data Documentation

actionClient_

smacc2::client_core_components::CpActionClient<nav2_msgs::action::NavigateToPose>* cl_nav2z::CbNav2ZClientBehaviorBase::actionClient_ = nullptr

protected

Definition at line 101 of file cb_nav2z_client_behavior_base.hpp.

Referenced by onStateOrthogonalAllocation().

nav2ActionInterface_

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

protected

Definition at line 99 of file cb_nav2z_client_behavior_base.hpp.

Referenced by cancelGoal(), onNavigationAborted(), onNavigationCancelled(), onNavigationSucceeded(), onStateOrthogonalAllocation(), and sendGoal().

navigationResult_

rclcpp_action::ResultCode cl_nav2z::CbNav2ZClientBehaviorBase::navigationResult_

protected

Definition at line 104 of file cb_nav2z_client_behavior_base.hpp.

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