sm_dance_bot_warehouse_3::cl_service3::CbService3 Class Reference

#include <cb_service3.hpp>

Inheritance diagram for sm_dance_bot_warehouse_3::cl_service3::CbService3:

Collaboration diagram for sm_dance_bot_warehouse_3::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_3::cl_service3::CbService3::CbService3 ( Service3Command  value )

inline

Definition at line 41 of file cb_service3.hpp.

{ value_ = value; }

References value_.

Member Function Documentation

onEntry()

void sm_dance_bot_warehouse_3::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_3::cl_service3::SERVICE3_ON, serviceClient_, and value_.

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Member Data Documentation

serviceClient_

ClService3* sm_dance_bot_warehouse_3::cl_service3::CbService3::serviceClient_

private

Definition at line 37 of file cb_service3.hpp.

Referenced by onEntry().

value_

Service3Command sm_dance_bot_warehouse_3::cl_service3::CbService3::value_

private

Definition at line 38 of file cb_service3.hpp.

Referenced by CbService3(), and onEntry().

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

• smacc2_sm_reference_library/sm_dance_bot_warehouse_3/include/sm_dance_bot_warehouse_3/clients/cl_service3/client_behaviors/cb_service3.hpp