#include <cb_sequence.hpp>

Inheritance diagram for smacc2::client_behaviors::CbSequence:

Collaboration diagram for smacc2::client_behaviors::CbSequence:

Public Member Functions
	CbSequence ()

void	onEntry () override

void	onExit () override

template<typename TOrthogonal , typename TBehavior , typename... Args>
CbSequence *	then (Args &&... args)

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)

Private Member Functions
void	onSubNodeSuccess ()

void	onSubNodeAbort ()

void	recursiveConsumeNext ()

Private Attributes
std::list< std::function< std::shared_ptr< smacc2::SmaccAsyncClientBehavior >()> >	sequenceNodes_

smacc2::SmaccSignalConnection	conn_

smacc2::SmaccSignalConnection	conn2_

std::shared_ptr< smacc2::SmaccAsyncClientBehavior >	bh_

std::atomic< int >	consume_ {0}

Additional Inherited Members
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

Detailed Description

Definition at line 31 of file cb_sequence.hpp.

Constructor & Destructor Documentation

◆ CbSequence()

smacc2::client_behaviors::CbSequence::CbSequence ( )

Definition at line 30 of file cb_sequence.cpp.

30{}

Member Function Documentation

◆ onEntry()

void smacc2::client_behaviors::CbSequence::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 60 of file cb_sequence.cpp.

{
  this->recursiveConsumeNext();
  while (!sequenceNodes_.empty())
  {
    bool is_shutdown_requested = this->isShutdownRequested();
    if (is_shutdown_requested)
    {
      break;
    }
 
    rclcpp::sleep_for(std::chrono::milliseconds(200));
    RCLCPP_INFO_THROTTLE(
      getLogger(), *(getNode()->get_clock()), 1000,
      "[CbSequence %ld] Waiting for subnodes to finish %ld. Current head Behavior: %s ", (long)this,
      sequenceNodes_.size(), demangleType(&typeid(*bh_)).c_str());
 
    if (consume_)
    {
      this->conn_.disconnect();
      this->conn2_.disconnect();
 
      sequenceNodes_.pop_front();
      consume_--;
 
      if (sequenceNodes_.size() > 0)
      {
        this->recursiveConsumeNext();
      }
    }
  }
 
  if (sequenceNodes_.empty())
  {
    RCLCPP_INFO(getLogger(), "[CbSequence %ld] All subnodes finished", (long)this);
    this->postSuccessEvent();
  }
  else
  {
    RCLCPP_INFO(getLogger(), "[CbSequence %ld] Aborting", (long)this);
    this->postFailureEvent();
  }
}

References bh_, conn2_, conn_, consume_, smacc2::introspection::demangleType(), smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getNode(), smacc2::SmaccAsyncClientBehavior::isShutdownRequested(), smacc2::SmaccAsyncClientBehavior::postFailureEvent(), smacc2::SmaccAsyncClientBehavior::postSuccessEvent(), recursiveConsumeNext(), and sequenceNodes_.

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◆ onExit()

void smacc2::client_behaviors::CbSequence::onExit ( )

inlineoverridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 38 of file cb_sequence.hpp.

38{ sequenceNodes_.clear(); }

References sequenceNodes_.

◆ onSubNodeAbort()

void smacc2::client_behaviors::CbSequence::onSubNodeAbort ( )

private

Definition at line 111 of file cb_sequence.cpp.

{
  RCLCPP_INFO(
    getLogger(), "[CbSequence %ld] Abort NextCbSequence %ld", (long)this, sequenceNodes_.size());
  this->conn_.disconnect();
  this->conn2_.disconnect();
 
  this->postFailureEvent();
  RCLCPP_INFO(
    getLogger(), "[CbSequence %ld] Abort NextCbSequence requesting for force finish", (long)this);
  this->requestForceFinish();
  consume_++;
}

References conn2_, conn_, consume_, smacc2::ISmaccClientBehavior::getLogger(), smacc2::SmaccAsyncClientBehavior::postFailureEvent(), smacc2::SmaccAsyncClientBehavior::requestForceFinish(), and sequenceNodes_.

Referenced by recursiveConsumeNext().

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◆ onSubNodeSuccess()

void smacc2::client_behaviors::CbSequence::onSubNodeSuccess ( )

private

Definition at line 104 of file cb_sequence.cpp.

{
  RCLCPP_INFO(
    getLogger(), "[CbSequence %ld] Success NextCbSequence %ld", (long)this, sequenceNodes_.size());
  consume_++;
}

References consume_, smacc2::ISmaccClientBehavior::getLogger(), and sequenceNodes_.

Referenced by recursiveConsumeNext().

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◆ recursiveConsumeNext()

void smacc2::client_behaviors::CbSequence::recursiveConsumeNext ( )

private

Definition at line 32 of file cb_sequence.cpp.

{
  RCLCPP_INFO(
    getLogger(), "[SequenceNode %ld] next onEntry: %ld", (long)this, sequenceNodes_.size());
 
  auto first = sequenceNodes_.front();
  auto onDelayedConfigureFn = first;
 
  RCLCPP_INFO(getLogger(), "[SequenceNode %ld] Behavior on delayed sequence configure", (long)this);
  bh_ = onDelayedConfigureFn();
  std::string currentNodeName = bh_->getName();
 
  RCLCPP_INFO(getLogger(), "[SequenceNode %ld] Subscribing OnSuccess", (long)this);
  this->conn_ = bh_->onSuccess(&CbSequence::onSubNodeSuccess, this);
  this->conn2_ = bh_->onFailure(&CbSequence::onSubNodeAbort, this);
 
  RCLCPP_INFO(
    getLogger(), "[SequenceNode %ld] subnode %s on entry", (long)this, currentNodeName.c_str());
  bh_->executeOnEntry();
  RCLCPP_INFO(
    getLogger(), "[SequenceNode %ld] subnode %s on entry finished", (long)this,
    currentNodeName.c_str());
  bh_->waitOnEntryThread(false);  // we do not request to finish to keep on subscriptions
  RCLCPP_INFO(
    getLogger(), "[SequenceNode %ld] subnode %s thread finished", (long)this,
    currentNodeName.c_str());
}

References bh_, conn2_, conn_, smacc2::ISmaccClientBehavior::getLogger(), onSubNodeAbort(), onSubNodeSuccess(), and sequenceNodes_.

Referenced by onEntry().

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◆ then()

template<typename TOrthogonal , typename TBehavior , typename... Args>

CbSequence * smacc2::client_behaviors::CbSequence::then ( Args &&... args )

inline

Definition at line 41 of file cb_sequence.hpp.

  {
    std::function<std::shared_ptr<smacc2::SmaccAsyncClientBehavior>()> delayedCBFactoryFn =
      [this, args...]()
    {
      RCLCPP_INFO(
        getLogger(), "[CbSequence] then creating new sub behavior %s ",
        demangleSymbol<TBehavior>().c_str());
      auto createdBh = std::shared_ptr<TBehavior>(new TBehavior(args...));
 
      this->getCurrentState()->getOrthogonal<TOrthogonal>()->addClientBehavior(createdBh);
      createdBh->template onStateOrthogonalAllocation<TOrthogonal, TBehavior>();
 
      return createdBh;
    };
 
    sequenceNodes_.push_back(delayedCBFactoryFn);
 
    return this;
  }

References smacc2::introspection::demangleSymbol(), smacc2::ISmaccClientBehavior::getCurrentState(), smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccState::getOrthogonal(), smacc2::SmaccAsyncClientBehavior::onStateOrthogonalAllocation(), and sequenceNodes_.

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Member Data Documentation

◆ bh_

std::shared_ptr<smacc2::SmaccAsyncClientBehavior> smacc2::client_behaviors::CbSequence::bh_

private

Definition at line 71 of file cb_sequence.hpp.

Referenced by onEntry(), and recursiveConsumeNext().

◆ conn2_

smacc2::SmaccSignalConnection smacc2::client_behaviors::CbSequence::conn2_

private

Definition at line 69 of file cb_sequence.hpp.

Referenced by onEntry(), onSubNodeAbort(), and recursiveConsumeNext().

◆ conn_

smacc2::SmaccSignalConnection smacc2::client_behaviors::CbSequence::conn_

private

Definition at line 68 of file cb_sequence.hpp.

Referenced by onEntry(), onSubNodeAbort(), and recursiveConsumeNext().

◆ consume_

std::atomic<int> smacc2::client_behaviors::CbSequence::consume_ {0}

private

Definition at line 72 of file cb_sequence.hpp.

72{0};

Referenced by onEntry(), onSubNodeAbort(), and onSubNodeSuccess().

◆ sequenceNodes_

std::list<std::function<std::shared_ptr<smacc2::SmaccAsyncClientBehavior>()> > smacc2::client_behaviors::CbSequence::sequenceNodes_

private

Definition at line 67 of file cb_sequence.hpp.

Referenced by onEntry(), onExit(), onSubNodeAbort(), onSubNodeSuccess(), recursiveConsumeNext(), and then().

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

smacc2/include/smacc2/client_behaviors/cb_sequence.hpp
smacc2/src/smacc2/client_behaviors/cb_sequence.cpp

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CbSequence()

Member Function Documentation

◆ onEntry()

◆ onExit()

◆ onSubNodeAbort()

◆ onSubNodeSuccess()

◆ recursiveConsumeNext()

◆ then()

Member Data Documentation

◆ bh_

◆ conn2_

◆ conn_

◆ consume_

◆ sequenceNodes_