cl_nav2z::CbPauseSlam Class Reference

#include <cb_pause_slam.hpp>

Inheritance diagram for cl_nav2z::CbPauseSlam:

Collaboration diagram for cl_nav2z::CbPauseSlam:

Public Member Functions
	CbPauseSlam (std::string serviceName="/slam_toolbox/pause_new_measurements")
void	onEntry () override
Public Member Functions inherited from smacc2::client_behaviors::CbServiceCall< slam_toolbox::srv::Pause >
	CbServiceCall (const char *serviceName)
	CbServiceCall (const char *serviceName, std::shared_ptr< typename ServiceType::Request >)
void	onEntry () override
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
CpSlamToolbox *	slam_
Protected Attributes inherited from smacc2::client_behaviors::CbServiceCall< slam_toolbox::srv::Pause >
std::shared_ptr< rclcpp::Client< slam_toolbox::srv::Pause > >	client_
std::string	serviceName_
std::shared_ptr< typename ServiceType::Request >	request_

Additional Inherited Members
Public Attributes inherited from smacc2::client_behaviors::CbServiceCall< slam_toolbox::srv::Pause >
std::shared_ptr< typename ServiceType::Response >	result_
Protected Member Functions inherited from smacc2::client_behaviors::CbServiceCall< slam_toolbox::srv::Pause >
void	onServiceResponse (typename rclcpp::Client< slam_toolbox::srv::Pause >::SharedFuture result)
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_pause_slam.hpp.

Constructor & Destructor Documentation

CbPauseSlam()

cl_nav2z::CbPauseSlam::CbPauseSlam

(

std::string

serviceName = "/slam_toolbox/pause_new_measurements"

)

Definition at line 24 of file cb_pause_slam.cpp.

: smacc2::client_behaviors::CbServiceCall<slam_toolbox::srv::Pause>(serviceName.c_str())
{
}

Member Function Documentation

onEntry()

void cl_nav2z::CbPauseSlam::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 29 of file cb_pause_slam.cpp.

{
  this->requiresComponent(this->slam_);
 
  auto currentState = slam_->getState();
 
  if (currentState == CpSlamToolbox::SlamToolboxState::Resumed)
  {
    RCLCPP_INFO(
      getLogger(), "[CbPauseSlam] calling pause service to toggle from resumed to paused");
    this->request_ = std::make_shared<slam_toolbox::srv::Pause::Request>();
    CbServiceCall<slam_toolbox::srv::Pause>::onEntry();
    this->slam_->toogleState();
  }
  else
  {
    this->request_ = nullptr;
    RCLCPP_INFO(
      getLogger(), "[CbPauseSlam] calling skipped. The current slam state is already paused.");
  }
}

References smacc2::ISmaccClientBehavior::currentState, smacc2::ISmaccClientBehavior::getLogger(), cl_nav2z::CpSlamToolbox::getState(), smacc2::client_behaviors::CbServiceCall< slam_toolbox::srv::Pause >::onEntry(), smacc2::client_behaviors::CbServiceCall< slam_toolbox::srv::Pause >::request_, smacc2::ISmaccClientBehavior::requiresComponent(), cl_nav2z::CpSlamToolbox::Resumed, slam_, and cl_nav2z::CpSlamToolbox::toogleState().

Here is the call graph for this function:

Member Data Documentation

slam_

CpSlamToolbox* cl_nav2z::CbPauseSlam::slam_

protected

Definition at line 35 of file cb_pause_slam.hpp.

Referenced by onEntry().

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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_pause_slam.hpp
• smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/client_behaviors/cb_pause_slam.cpp