smacc_client_behavior_base.hpp

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// Copyright 2025 Robosoft Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
/*****************************************************************************************************************
 *
 *   Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 ******************************************************************************************************************/
 
#pragma once
 
#include <string>
 
#include <smacc2/common.hpp>
 
namespace smacc2
{
 
class ISmaccClientBehavior
{
public:
  ISmaccClientBehavior();
 
  virtual ~ISmaccClientBehavior();
 
  inline ISmaccStateMachine * getStateMachine();
 
  std::string getName() const;
 
  template <typename SmaccClientType>
  void requiresClient(SmaccClientType *& storage);
 
  template <typename SmaccComponentType>
  void requiresComponent(
    SmaccComponentType *& storage,
    ComponentRequirement requirementType = ComponentRequirement::SOFT);
 
  // named variant: resolves the component instance created with this name
  // (e.g. createComponent<CpActionClient<Spin>>("/spin")), for clients holding
  // several components of the same type
  template <typename SmaccComponentType>
  void requiresComponent(
    std::string name, SmaccComponentType *& storage,
    ComponentRequirement requirementType = ComponentRequirement::SOFT);
 
  virtual void onEntry() {}
 
  virtual void onExit() {}
 
  //internal visibility (private + friend)
  virtual void executeOnEntry();
 
  //internal visibility (private + friend)
  virtual void executeOnExit();
 
protected:
  virtual void runtimeConfigure();
 
  template <typename EventType>
  void postEvent(const EventType & ev);
 
  template <typename EventType>
  void postEvent();
 
  inline ISmaccState * getCurrentState();
 
  virtual void dispose();
 
  virtual rclcpp::Node::SharedPtr getNode() const;
 
  virtual rclcpp::Logger getLogger() const;
 
private:
  template <typename TOrthogonal, typename TSourceObject>
  void onStateOrthogonalAllocation();
 
  // a reference to the owner state machine
  ISmaccStateMachine * stateMachine_;
 
  // a reference to the state where the client behavior is being executed
  ISmaccState * currentState;
  smacc2::ISmaccOrthogonal * currentOrthogonal;
 
  friend class ISmaccState;
  friend class ISmaccOrthogonal;
  friend class ISmaccAsynchronousClientBehavior;
};
}  // namespace smacc2