smacc2::client_core_components::CpRos2Timer Class Reference

#include <cp_ros2_timer.hpp>

Inheritance diagram for smacc2::client_core_components::CpRos2Timer:

Collaboration diagram for smacc2::client_core_components::CpRos2Timer:

Public Member Functions
	CpRos2Timer (rclcpp::Duration duration, bool oneshot=false)
virtual	~CpRos2Timer ()
void	onInitialize () override
void	startTimer ()
void	stopTimer ()
void	cancelTimer ()
template<typename T >
smacc2::SmaccSignalConnection	onTimerTick (void(T::*callback)(), T *object)
Public Member Functions inherited from smacc2::ISmaccComponent
	ISmaccComponent ()
virtual	~ISmaccComponent ()
virtual std::string	getName () const

Public Attributes
smacc2::SmaccSignal< void()>	onTimerTick_

Private Member Functions
void	timerCallback ()

Private Attributes
rclcpp::TimerBase::SharedPtr	timer_
rclcpp::Duration	duration_
bool	oneshot_
bool	initialized_

Additional Inherited Members
Protected Member Functions inherited from smacc2::ISmaccComponent
template<typename TOrthogonal , typename TClient >
void	onComponentInitialization ()
template<typename EventType >
void	postEvent (const EventType &ev)
template<typename EventType >
void	postEvent ()
template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()
template<typename TComponent >
void	requiresComponent (TComponent *&requiredComponentStorage, ComponentRequirement requirementType=ComponentRequirement::SOFT)
template<typename TComponent >
void	requiresComponent (std::string name, TComponent *&requiredComponentStorage, ComponentRequirement requirementType=ComponentRequirement::SOFT)
template<typename TClient >
void	requiresClient (TClient *&requiredClientStorage)
template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createSiblingComponent (TArgs... targs)
template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createSiblingNamedComponent (std::string name, TArgs... targs)
rclcpp::Node::SharedPtr	getNode ()
rclcpp::Logger	getLogger () const
ISmaccStateMachine *	getStateMachine ()
Protected Attributes inherited from smacc2::ISmaccComponent
ISmaccStateMachine *	stateMachine_
ISmaccClient *	owner_

Detailed Description

Definition at line 30 of file cp_ros2_timer.hpp.

Constructor & Destructor Documentation

CpRos2Timer()

smacc2::client_core_components::CpRos2Timer::CpRos2Timer ( rclcpp::Duration duration, bool oneshot = false )

inline

Definition at line 33 of file cp_ros2_timer.hpp.

  : duration_(duration), oneshot_(oneshot), initialized_(false)
  {
  }

~CpRos2Timer()

virtual smacc2::client_core_components::CpRos2Timer::~CpRos2Timer ( )

inlinevirtual

Definition at line 38 of file cp_ros2_timer.hpp.

  {
    if (timer_)
    {
      timer_->cancel();
    }
  }

References timer_.

Member Function Documentation

cancelTimer()

void smacc2::client_core_components::CpRos2Timer::cancelTimer ( )

inline

Definition at line 82 of file cp_ros2_timer.hpp.

  {
    if (timer_)
    {
      RCLCPP_INFO_STREAM(getLogger(), "[" << this->getName() << "] Cancelling timer");
      timer_->cancel();
    }
  }

References smacc2::ISmaccComponent::getLogger(), smacc2::ISmaccComponent::getName(), and timer_.

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onInitialize()

void smacc2::client_core_components::CpRos2Timer::onInitialize ( )

inlineoverridevirtual

Reimplemented from smacc2::ISmaccComponent.

Definition at line 46 of file cp_ros2_timer.hpp.

  {
    if (!initialized_)
    {
      RCLCPP_INFO_STREAM(
        getLogger(), "[" << this->getName() << "] Initializing ROS2 Timer with duration: "
                         << duration_.seconds() << "s, oneshot: " << (oneshot_ ? "true" : "false"));
 
      auto clock = this->getNode()->get_clock();
      timer_ = rclcpp::create_timer(
        this->getNode(), clock, duration_, std::bind(&CpRos2Timer::timerCallback, this));
 
      this->initialized_ = true;
    }
  }

References duration_, smacc2::ISmaccComponent::getLogger(), smacc2::ISmaccComponent::getName(), smacc2::ISmaccComponent::getNode(), initialized_, oneshot_, timer_, and timerCallback().

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onTimerTick()

template<typename T >

smacc2::SmaccSignalConnection smacc2::client_core_components::CpRos2Timer::onTimerTick ( void(T::* callback )(), T * object )

inline

Definition at line 92 of file cp_ros2_timer.hpp.

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

References smacc2::ISmaccStateMachine::createSignalConnection(), and smacc2::ISmaccComponent::getStateMachine().

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startTimer()

void smacc2::client_core_components::CpRos2Timer::startTimer ( )

inline

Definition at line 64 of file cp_ros2_timer.hpp.

  {
    if (timer_ && timer_->is_canceled())
    {
      RCLCPP_INFO_STREAM(getLogger(), "[" << this->getName() << "] Starting timer");
      timer_->reset();
    }
  }

References smacc2::ISmaccComponent::getLogger(), smacc2::ISmaccComponent::getName(), and timer_.

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stopTimer()

void smacc2::client_core_components::CpRos2Timer::stopTimer ( )

inline

Definition at line 73 of file cp_ros2_timer.hpp.

  {
    if (timer_)
    {
      RCLCPP_INFO_STREAM(getLogger(), "[" << this->getName() << "] Stopping timer");
      timer_->cancel();
    }
  }

References smacc2::ISmaccComponent::getLogger(), smacc2::ISmaccComponent::getName(), and timer_.

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timerCallback()

void smacc2::client_core_components::CpRos2Timer::timerCallback ( )

inlineprivate

Definition at line 98 of file cp_ros2_timer.hpp.

  {
    RCLCPP_DEBUG_STREAM(getLogger(), "[" << this->getName() << "] Timer tick");
 
    if (!onTimerTick_.empty())
    {
      onTimerTick_();
    }
 
    if (oneshot_)
    {
      RCLCPP_INFO_STREAM(
        getLogger(), "[" << this->getName() << "] Oneshot timer completed, cancelling");
      timer_->cancel();
    }
  }

References smacc2::ISmaccComponent::getLogger(), smacc2::ISmaccComponent::getName(), oneshot_, onTimerTick_, and timer_.

Referenced by onInitialize().

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Member Data Documentation

duration_

rclcpp::Duration smacc2::client_core_components::CpRos2Timer::duration_

private

Definition at line 115 of file cp_ros2_timer.hpp.

Referenced by onInitialize().

initialized_

bool smacc2::client_core_components::CpRos2Timer::initialized_

private

Definition at line 117 of file cp_ros2_timer.hpp.

Referenced by onInitialize().

oneshot_

bool smacc2::client_core_components::CpRos2Timer::oneshot_

private

Definition at line 116 of file cp_ros2_timer.hpp.

Referenced by onInitialize(), and timerCallback().

onTimerTick_

smacc2::SmaccSignal<void()> smacc2::client_core_components::CpRos2Timer::onTimerTick_

Definition at line 62 of file cp_ros2_timer.hpp.

Referenced by timerCallback().

timer_

rclcpp::TimerBase::SharedPtr smacc2::client_core_components::CpRos2Timer::timer_

private

Definition at line 114 of file cp_ros2_timer.hpp.

Referenced by cancelTimer(), onInitialize(), startTimer(), stopTimer(), timerCallback(), and ~CpRos2Timer().

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

• smacc2/include/smacc2/client_core_components/cp_ros2_timer.hpp