#include <cb_service3.hpp>

Inheritance diagram for sm_dance_bot_warehouse::cl_service3::CbService3:

Collaboration diagram for sm_dance_bot_warehouse::cl_service3::CbService3:

Public Member Functions
	CbService3 (Service3Command value)

void	onEntry () override

Public Member Functions inherited from smacc2::SmaccClientBehavior
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)

Private Attributes
ClService3 *	serviceClient_

Service3Command	value_

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

Definition at line 34 of file cb_service3.hpp.

Constructor & Destructor Documentation

◆ CbService3()

sm_dance_bot_warehouse::cl_service3::CbService3::CbService3 ( Service3Command value )

inline

Definition at line 41 of file cb_service3.hpp.

41{ value_ = value; }

sm_dance_bot_warehouse::cl_service3::CbService3::value_

Service3Command value_

Definition: cb_service3.hpp:38

References value_.

Member Function Documentation

◆ onEntry()

void sm_dance_bot_warehouse::cl_service3::CbService3::onEntry ( )

inlineoverridevirtual

Reimplemented from smacc2::SmaccClientBehavior.

Definition at line 43 of file cb_service3.hpp.

  {
    this->requiresClient(serviceClient_);
 
    auto req = std::make_shared<std_srvs::srv::SetBool::Request>();
    if (value_ == Service3Command::SERVICE3_ON)
      req->data = true;
    else
      req->data = false;
 
    serviceClient_->call(req);
  }

References smacc2::client_bases::SmaccServiceClient< ServiceType >::call(), smacc2::ISmaccClientBehavior::requiresClient(), sm_dance_bot_warehouse::cl_service3::SERVICE3_ON, serviceClient_, and value_.

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Member Data Documentation

◆ serviceClient_

ClService3* sm_dance_bot_warehouse::cl_service3::CbService3::serviceClient_

private

Definition at line 37 of file cb_service3.hpp.

Referenced by onEntry().

◆ value_

Service3Command sm_dance_bot_warehouse::cl_service3::CbService3::value_

private

Definition at line 38 of file cb_service3.hpp.

Referenced by CbService3(), and onEntry().

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

smacc2_sm_reference_library/sm_dance_bot_warehouse/include/sm_dance_bot_warehouse/clients/cl_service3/client_behaviors/cb_service3.hpp

Public Member Functions

Private Attributes

Additional Inherited Members