cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType > Class Template Reference

#include <cb_default_multirole_sensor_behavior.hpp>

Inheritance diagram for cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >:

Collaboration diagram for cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >:

Public Types
typedef ClientType::TMessageType	TMessageType

Public Member Functions
	CbDefaultMultiRoleSensorBehavior ()
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
template<typename EvType >
void	propagateEvent (const TMessageType &)
template<typename EvType >
void	propagateEvent2 ()
void	onEntry () override
void	onExit ()
virtual void	onMessageCallback (const TMessageType &)
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)

Static Public Member Functions
static std::string	getEventLabel ()

Public Attributes
ClientType *	sensor_
std::function< void()>	deferedEventPropagation

Additional Inherited Members
Protected Member Functions inherited from smacc2::ISmaccClientBehavior
virtual void	runtimeConfigure ()
virtual void	onEntry ()
virtual void	onExit ()
template<typename EventType >
void	postEvent (const EventType &ev)
template<typename EventType >
void	postEvent ()
ISmaccState *	getCurrentState ()
virtual void	dispose ()
virtual rclcpp::Node::SharedPtr	getNode ()
virtual rclcpp::Logger	getLogger ()

Detailed Description

template<typename ClientType>
class cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >

Definition at line 26 of file cb_default_multirole_sensor_behavior.hpp.

Member Typedef Documentation

TMessageType

template<typename ClientType >

typedef ClientType::TMessageType cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >::TMessageType

Definition at line 29 of file cb_default_multirole_sensor_behavior.hpp.

Constructor & Destructor Documentation

CbDefaultMultiRoleSensorBehavior()

template<typename ClientType >

cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >::CbDefaultMultiRoleSensorBehavior ( )

inline

Definition at line 33 of file cb_default_multirole_sensor_behavior.hpp.

{ sensor_ = nullptr; }

References cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >::sensor_.

Member Function Documentation

getEventLabel()

template<typename ClientType >

static std::string cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >::getEventLabel ( )

inlinestatic

Definition at line 35 of file cb_default_multirole_sensor_behavior.hpp.

  {
    // show ros message type
    return demangleSymbol(typeid(TMessageType).name());
  }

References smacc2::introspection::demangleSymbol().

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onEntry()

template<typename ClientType >

void cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >::onEntry ( )

inlineoverridevirtual

Reimplemented from smacc2::SmaccClientBehavior.

Definition at line 80 of file cb_default_multirole_sensor_behavior.hpp.

  {
    RCLCPP_INFO(
      getLogger(), "[CbDefaultMultiRoleSensorBehavior] onEntry. Requires client of type '%s'",
      demangleSymbol<ClientType>().c_str());
 
    if (sensor_ == nullptr)
    {
      this->requiresClient(sensor_);
    }
 
    if (sensor_ == nullptr)
    {
      RCLCPP_FATAL_STREAM(
        getLogger(),
        "[CbDefaultMultiRoleSensorBehavior]Sensor client behavior needs a client of type: "
          << demangleSymbol<ClientType>() << " but it is not found.");
    }
    else
    {
      deferedEventPropagation();
      RCLCPP_INFO(getLogger(), "[CbDefaultMultiRoleSensorBehavior] onEntry. sensor initialize");
    }
  }

References cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >::deferedEventPropagation, smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::requiresClient(), and cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >::sensor_.

Referenced by sm_dance_bot::cl_lidar::CbLidarSensor::onEntry(), sm_dance_bot::cl_temperature_sensor::CbConditionTemperatureSensor::onEntry(), sm_dance_bot_strikes_back::cl_lidar::CbLidarSensor::onEntry(), sm_dance_bot_strikes_back::cl_temperature_sensor::CbConditionTemperatureSensor::onEntry(), sm_dance_bot_warehouse::cl_lidar::CbLidarSensor::onEntry(), sm_dance_bot_warehouse::cl_temperature_sensor::CbConditionTemperatureSensor::onEntry(), sm_dance_bot_warehouse_2::cl_lidar::CbLidarSensor::onEntry(), sm_dance_bot_warehouse_2::cl_temperature_sensor::CbConditionTemperatureSensor::onEntry(), sm_dance_bot_warehouse_3::cl_lidar::CbLidarSensor::onEntry(), and sm_dance_bot_warehouse_3::cl_temperature_sensor::CbConditionTemperatureSensor::onEntry().

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onExit()

template<typename ClientType >

void cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >::onExit ( )

inlinevirtual

Reimplemented from smacc2::SmaccClientBehavior.

Definition at line 105 of file cb_default_multirole_sensor_behavior.hpp.

{}

onMessageCallback()

template<typename ClientType >

virtual void cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >::onMessageCallback ( const TMessageType &  )

inlinevirtual

Definition at line 107 of file cb_default_multirole_sensor_behavior.hpp.

  {
    // empty to fill by sensor customization based on inheritance
  }

onOrthogonalAllocation()

template<typename ClientType >

template<typename TOrthogonal , typename TSourceObject >

void cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >::onOrthogonalAllocation ( )

inline

Definition at line 44 of file cb_default_multirole_sensor_behavior.hpp.

  {
    deferedEventPropagation = [this]() {
      RCLCPP_INFO(
        getLogger(), "[CbDefaultMultiRoleSensorBehavior] onEntry. Requires client of type '%s'",
        demangleSymbol<ClientType>().c_str());
 
      // just propagate the client events from this client behavior source.
      sensor_->onMessageReceived(
        &CbDefaultMultiRoleSensorBehavior<ClientType>::propagateEvent<
          EvTopicMessage<TSourceObject, TOrthogonal>>,
        this);
      sensor_->onFirstMessageReceived(
        &CbDefaultMultiRoleSensorBehavior<ClientType>::propagateEvent<
          EvTopicInitialMessage<TSourceObject, TOrthogonal>>,
        this);
      sensor_->onMessageTimeout(
        &CbDefaultMultiRoleSensorBehavior<ClientType>::propagateEvent2<
          EvTopicMessageTimeout<TSourceObject, TOrthogonal>>,
        this);
    };
  }

References cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >::deferedEventPropagation, smacc2::ISmaccClientBehavior::getLogger(), and cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >::sensor_.

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propagateEvent()

template<typename ClientType >

template<typename EvType >

void cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >::propagateEvent ( const TMessageType &  )

inline

Definition at line 68 of file cb_default_multirole_sensor_behavior.hpp.

  {
    // TODO: copy event concept fields
    this->postEvent<EvType>();
  }

propagateEvent2()

template<typename ClientType >

template<typename EvType >

void cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >::propagateEvent2 ( )

inline

Definition at line 75 of file cb_default_multirole_sensor_behavior.hpp.

  {
    this->postEvent<EvType>();
  }

Member Data Documentation

deferedEventPropagation

template<typename ClientType >

std::function<void()> cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >::deferedEventPropagation

Definition at line 41 of file cb_default_multirole_sensor_behavior.hpp.

Referenced by cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >::onEntry(), and cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >::onOrthogonalAllocation().

sensor_

template<typename ClientType >

ClientType* cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >::sensor_

Definition at line 31 of file cb_default_multirole_sensor_behavior.hpp.

Referenced by cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >::CbDefaultMultiRoleSensorBehavior(), cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >::onEntry(), and cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >::onOrthogonalAllocation().

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

• smacc2_client_library/multirole_sensor_client/include/multirole_sensor_client/client_behaviors/cb_default_multirole_sensor_behavior.hpp