cl_nav2z::CbNav2ZClientBehaviorBase Class Reference

#include <cb_nav2z_client_behavior_base.hpp>

Inheritance diagram for cl_nav2z::CbNav2ZClientBehaviorBase:

Collaboration diagram for cl_nav2z::CbNav2ZClientBehaviorBase:

Public Member Functions
virtual	~CbNav2ZClientBehaviorBase ()
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
Public Member Functions inherited from smacc2::SmaccAsyncClientBehavior
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
virtual	~SmaccAsyncClientBehavior ()
template<typename TCallback , typename T >
boost::signals2::connection	onSuccess (TCallback callback, T *object)
template<typename TCallback , typename T >
boost::signals2::connection	onFinished (TCallback callback, T *object)
template<typename TCallback , typename T >
boost::signals2::connection	onFailure (TCallback 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)

Protected Attributes
cl_nav2z::ClNav2Z *	moveBaseClient_
rclcpp_action::ResultCode	navigationResult_

Private Member Functions
void	propagateSuccessEvent (ClNav2Z::WrappedResult &)
void	propagateFailureEvent (ClNav2Z::WrappedResult &)

Additional Inherited Members
Protected Member Functions inherited from smacc2::SmaccAsyncClientBehavior
void	postSuccessEvent ()
void	postFailureEvent ()
virtual void	dispose () override
bool	isShutdownRequested ()
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

Definition at line 28 of file cb_nav2z_client_behavior_base.hpp.

Constructor & Destructor Documentation

~CbNav2ZClientBehaviorBase()

cl_nav2z::CbNav2ZClientBehaviorBase::~CbNav2ZClientBehaviorBase ( )

virtual

Definition at line 24 of file cb_nav2z_client_behavior_base.cpp.

{}

Member Function Documentation

onOrthogonalAllocation()

template<typename TOrthogonal , typename TSourceObject >

void cl_nav2z::CbNav2ZClientBehaviorBase::onOrthogonalAllocation ( )

inline

Definition at line 34 of file cb_nav2z_client_behavior_base.hpp.

  {
    this->requiresClient(moveBaseClient_);
    smacc2::SmaccAsyncClientBehavior::onOrthogonalAllocation<TOrthogonal, TSourceObject>();
    moveBaseClient_->onSucceeded(&CbNav2ZClientBehaviorBase::propagateSuccessEvent, this);
    moveBaseClient_->onAborted(&CbNav2ZClientBehaviorBase::propagateFailureEvent, this);
    moveBaseClient_->onCancelled(&CbNav2ZClientBehaviorBase::propagateFailureEvent, this);
  }

References moveBaseClient_, smacc2::client_bases::SmaccActionClientBase< ActionType >::onAborted(), smacc2::client_bases::SmaccActionClientBase< ActionType >::onCancelled(), smacc2::client_bases::SmaccActionClientBase< ActionType >::onSucceeded(), propagateFailureEvent(), propagateSuccessEvent(), and smacc2::ISmaccClientBehavior::requiresClient().

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propagateFailureEvent()

void cl_nav2z::CbNav2ZClientBehaviorBase::propagateFailureEvent ( ClNav2Z::WrappedResult &  r )

private

Definition at line 33 of file cb_nav2z_client_behavior_base.cpp.

{
  navigationResult_ = r.code;
  auto name = smacc2::demangleType(typeid(*this));
  RCLCPP_INFO(getLogger(), "[%s] Propagating failure event from action server", name.c_str());
  this->postFailureEvent();
}

References smacc2::introspection::demangleType(), smacc2::ISmaccClientBehavior::getLogger(), navigationResult_, and smacc2::SmaccAsyncClientBehavior::postFailureEvent().

Referenced by onOrthogonalAllocation().

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propagateSuccessEvent()

void cl_nav2z::CbNav2ZClientBehaviorBase::propagateSuccessEvent ( ClNav2Z::WrappedResult &  r )

private

Definition at line 26 of file cb_nav2z_client_behavior_base.cpp.

{
  navigationResult_ = r.code;
  auto name = smacc2::demangleType(typeid(*this));
  RCLCPP_INFO(getLogger(), "[%s] Propagating success event from action server", name.c_str());
  this->postSuccessEvent();
}

References smacc2::introspection::demangleType(), smacc2::ISmaccClientBehavior::getLogger(), navigationResult_, and smacc2::SmaccAsyncClientBehavior::postSuccessEvent().

Referenced by onOrthogonalAllocation().

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Member Data Documentation

moveBaseClient_

cl_nav2z::ClNav2Z* cl_nav2z::CbNav2ZClientBehaviorBase::moveBaseClient_

protected

Definition at line 44 of file cb_nav2z_client_behavior_base.hpp.

Referenced by cl_nav2z::CbNavigateGlobalPosition::execute(), cl_nav2z::CbAbsoluteRotate::onEntry(), cl_nav2z::CbNavigateBackwards::onEntry(), cl_nav2z::CbNavigateForward::onEntry(), cl_nav2z::CbNavigateGlobalPosition::onEntry(), cl_nav2z::CbNavigateNextWaypoint::onEntry(), cl_nav2z::CbRotate::onEntry(), cl_nav2z::CbUndoPathBackwards::onEntry(), cl_nav2z::CbUndoPathBackwards::onExit(), and onOrthogonalAllocation().

navigationResult_

rclcpp_action::ResultCode cl_nav2z::CbNav2ZClientBehaviorBase::navigationResult_

protected

Definition at line 46 of file cb_nav2z_client_behavior_base.hpp.

Referenced by cl_nav2z::CbUndoPathBackwards::onExit(), propagateFailureEvent(), and propagateSuccessEvent().

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

• smacc2_client_library/nav2z_client/nav2z_client/include/nav2z_client/client_behaviors/cb_nav2z_client_behavior_base.hpp
• smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/client_behaviors/cb_nav2z_client_behavior_base.cpp