cl_ros2_timer::CbTimerCountdownLoop Class Reference

#include <cb_timer_countdown_loop.hpp>

Inheritance diagram for cl_ros2_timer::CbTimerCountdownLoop:

Collaboration diagram for cl_ros2_timer::CbTimerCountdownLoop:

Public Member Functions
	CbTimerCountdownLoop (rclcpp::Duration loopDuration)
template<typename T , std::enable_if_t< std::is_integral< T >::value, int > = 0>
	CbTimerCountdownLoop (T)
void	onEntry () override
void	onExit () override
template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()
template<typename T >
smacc2::SmaccSignalConnection	onTimerTick (void(T::*callback)(), T *object)
Public Member Functions inherited from smacc2::SmaccClientBehavior
virtual	~SmaccClientBehavior ()
void	onEntry () override
void	onExit () override
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	executeOnEntry ()
virtual void	executeOnExit ()

Private Attributes
rclcpp::Duration	loopDuration_
rclcpp::TimerBase::SharedPtr	wallTimer_
std::function< void()>	postCountDownEvent_
smacc2::SmaccSignal< void()>	onTimerTick_

Additional Inherited Members
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 void	dispose ()
virtual rclcpp::Node::SharedPtr	getNode () const
virtual rclcpp::Logger	getLogger () const

Detailed Description

Definition at line 22 of file cb_timer_countdown_loop.hpp.

Constructor & Destructor Documentation

CbTimerCountdownLoop() [1/2]

cl_ros2_timer::CbTimerCountdownLoop::CbTimerCountdownLoop ( rclcpp::Duration loopDuration )

inlineexplicit

Definition at line 25 of file cb_timer_countdown_loop.hpp.

: loopDuration_(loopDuration) {}

CbTimerCountdownLoop() [2/2]

template<typename T , std::enable_if_t< std::is_integral< T >::value, int > = 0>

cl_ros2_timer::CbTimerCountdownLoop::CbTimerCountdownLoop ( T )

inlineexplicit

Definition at line 29 of file cb_timer_countdown_loop.hpp.

  {
    static_assert(
      !std::is_integral<T>::value,
      "\n\nCbTimerCountdownLoop no longer accepts a tick count.\n"
      "Pass a chrono duration literal instead:\n"
      "  configure_orthogonal<OrTimer, CbTimerCountdownLoop>(3s);    // every 3 seconds\n"
      "  configure_orthogonal<OrTimer, CbTimerCountdownLoop>(500ms); // every 500 ms\n"
      "Migration guide: https://smacc2.robosoft.ai/how-to/how-to-cl-ros2-timer.html\n");
  }

Member Function Documentation

onEntry()

void cl_ros2_timer::CbTimerCountdownLoop::onEntry ( )

inlineoverridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 40 of file cb_timer_countdown_loop.hpp.

  {
    auto node = this->getNode();
    auto clock = node->get_clock();
    wallTimer_ = rclcpp::create_timer(
      node, clock, std::chrono::nanoseconds(loopDuration_.nanoseconds()),
      [this]()
      {
        onTimerTick_();
        postCountDownEvent_();
      });
  }

References smacc2::ISmaccClientBehavior::getNode(), loopDuration_, and wallTimer_.

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onExit()

void cl_ros2_timer::CbTimerCountdownLoop::onExit ( )

inlineoverridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 53 of file cb_timer_countdown_loop.hpp.

  {
    if (wallTimer_)
    {
      wallTimer_->cancel();
      wallTimer_.reset();
    }
  }

References wallTimer_.

onStateOrthogonalAllocation()

template<typename TOrthogonal , typename TSourceObject >

void cl_ros2_timer::CbTimerCountdownLoop::onStateOrthogonalAllocation ( )

inline

Definition at line 63 of file cb_timer_countdown_loop.hpp.

  {
    this->postCountDownEvent_ = [=]()
    { this->template postEvent<EvTimer<TSourceObject, TOrthogonal>>(); };
  }

References postCountDownEvent_, and smacc2::ISmaccClientBehavior::postEvent().

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onTimerTick()

template<typename T >

smacc2::SmaccSignalConnection cl_ros2_timer::CbTimerCountdownLoop::onTimerTick ( void(T::* callback )(), T * object )

inline

Definition at line 70 of file cb_timer_countdown_loop.hpp.

  {
    return this->getStateMachine()->createSignalConnection(onTimerTick_, callback, object);
  }

References smacc2::ISmaccStateMachine::createSignalConnection(), smacc2::ISmaccClientBehavior::getStateMachine(), and onTimerTick_.

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Member Data Documentation

loopDuration_

rclcpp::Duration cl_ros2_timer::CbTimerCountdownLoop::loopDuration_

private

Definition at line 76 of file cb_timer_countdown_loop.hpp.

Referenced by onEntry().

onTimerTick_

smacc2::SmaccSignal<void()> cl_ros2_timer::CbTimerCountdownLoop::onTimerTick_

private

Definition at line 80 of file cb_timer_countdown_loop.hpp.

Referenced by onTimerTick().

postCountDownEvent_

std::function<void()> cl_ros2_timer::CbTimerCountdownLoop::postCountDownEvent_

private

Definition at line 79 of file cb_timer_countdown_loop.hpp.

Referenced by onStateOrthogonalAllocation().

wallTimer_

rclcpp::TimerBase::SharedPtr cl_ros2_timer::CbTimerCountdownLoop::wallTimer_

private

Definition at line 77 of file cb_timer_countdown_loop.hpp.

Referenced by onEntry(), and onExit().

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

• smacc2_client_library/cl_ros2_timer/include/cl_ros2_timer/client_behaviors/cb_timer_countdown_loop.hpp