sm_ferrari::cl_subscriber::CbMySubscriberBehavior Class Reference

#include <cb_my_subscriber_behavior.hpp>

Inheritance diagram for sm_ferrari::cl_subscriber::CbMySubscriberBehavior:

Collaboration diagram for sm_ferrari::cl_subscriber::CbMySubscriberBehavior:

Public Member Functions
void	onEntry ()
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
void	onMessageReceived (const std_msgs::msg::Float32 &msg)
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)

Public Attributes
std::function< void()>	postMyEvent_

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 27 of file cb_my_subscriber_behavior.hpp.

Member Function Documentation

onEntry()

void sm_ferrari::cl_subscriber::CbMySubscriberBehavior::onEntry ( )

inlinevirtual

Reimplemented from smacc2::SmaccClientBehavior.

Definition at line 30 of file cb_my_subscriber_behavior.hpp.

  {
    ClSubscriber * client;
    this->requiresClient(client);
 
    client->onMessageReceived(&CbMySubscriberBehavior::onMessageReceived, this);
  }

References onMessageReceived(), smacc2::client_bases::SmaccSubscriberClient< MessageType >::onMessageReceived(), and smacc2::ISmaccClientBehavior::requiresClient().

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onMessageReceived()

void sm_ferrari::cl_subscriber::CbMySubscriberBehavior::onMessageReceived ( const std_msgs::msg::Float32 &  msg )

inline

Definition at line 44 of file cb_my_subscriber_behavior.hpp.

  {
    if (msg.data > 30)
    {
      RCLCPP_INFO(
        getLogger(),
        "[CbMySubscriberBehavior] received message from topic with value > 30. "
        "Posting event!");
      this->postMyEvent_();
    }
  }

References smacc2::ISmaccClientBehavior::getLogger(), and postMyEvent_.

Referenced by onEntry().

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onOrthogonalAllocation()

template<typename TOrthogonal , typename TSourceObject >

void sm_ferrari::cl_subscriber::CbMySubscriberBehavior::onOrthogonalAllocation ( )

inline

Definition at line 39 of file cb_my_subscriber_behavior.hpp.

  {
    postMyEvent_ = [=] { this->postEvent<EvMyBehavior<TSourceObject, TOrthogonal>>(); };
  }

References postMyEvent_.

Member Data Documentation

postMyEvent_

std::function<void()> sm_ferrari::cl_subscriber::CbMySubscriberBehavior::postMyEvent_

Definition at line 56 of file cb_my_subscriber_behavior.hpp.

Referenced by onMessageReceived(), and onOrthogonalAllocation().

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

• smacc2_sm_reference_library/sm_ferrari/include/sm_ferrari/clients/cl_subscriber/client_behaviors/cb_my_subscriber_behavior.hpp