smacc2::ISmaccComponent Class Reference

#include <component.hpp>

Inheritance diagram for smacc2::ISmaccComponent:

Collaboration diagram for smacc2::ISmaccComponent:

Public Member Functions
	ISmaccComponent ()
virtual	~ISmaccComponent ()
virtual std::string	getName () const

Protected Member Functions
virtual void	onInitialize ()
template<typename EventType >
void	postEvent (const EventType &ev)
template<typename EventType >
void	postEvent ()
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
template<typename TComponent >
void	requiresComponent (TComponent *&requiredComponentStorage)
template<typename TClient >
void	requiresClient (TClient *&requiredClientStorage)
template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createSiblingComponent (TArgs... targs)
template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createSiblingNamedComponent (std::string name, TArgs... targs)
rclcpp::Node::SharedPtr	getNode ()
rclcpp::Logger	getLogger ()
ISmaccStateMachine *	getStateMachine ()

Protected Attributes
ISmaccStateMachine *	stateMachine_
ISmaccClient *	owner_

Private Member Functions
void	initialize (ISmaccClient *owner)
void	setStateMachine (ISmaccStateMachine *stateMachine)

Friends
class	ISmaccOrthogonal
class	ISmaccClient

Detailed Description

Definition at line 29 of file component.hpp.

Constructor & Destructor Documentation

ISmaccComponent()

smacc2::ISmaccComponent::ISmaccComponent

(

)

Definition at line 27 of file smacc_component.cpp.

: owner_(nullptr) {}

~ISmaccComponent()

smacc2::ISmaccComponent::~ISmaccComponent ( )

virtual

Definition at line 25 of file smacc_component.cpp.

{}

Member Function Documentation

createSiblingComponent()

template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>

SmaccComponentType * smacc2::ISmaccComponent::createSiblingComponent ( TArgs...  targs )

protected

Definition at line 49 of file smacc_component_impl.hpp.

{
  return this->owner_->createComponent<SmaccComponentType, TOrthogonal, TClient>(targs...);
}

References smacc2::ISmaccClient::createComponent(), and owner_.

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createSiblingNamedComponent()

template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>

SmaccComponentType * smacc2::ISmaccComponent::createSiblingNamedComponent ( std::string  name, TArgs...  targs  )

protected

Definition at line 55 of file smacc_component_impl.hpp.

{
  return this->owner_->createNamedComponent<SmaccComponentType, TOrthogonal, TClient>(
    name, targs...);
}

References smacc2::ISmaccClient::createNamedComponent(), and owner_.

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getLogger()

rclcpp::Logger smacc2::ISmaccComponent::getLogger ( )

protected

Definition at line 44 of file smacc_component.cpp.

{ return owner_->getLogger(); }

References smacc2::ISmaccClient::getLogger(), and owner_.

Referenced by cl_move_group_interface::CpGraspingComponent::createGraspableBox(), cl_nav2z::CostmapSwitch::disable(), cl_nav2z::CostmapSwitch::enable(), sm_dance_bot_warehouse::cl_nav2z::CpSquareShapeBoundary::getForwardDistance(), sm_dance_bot_warehouse_2::cl_nav2z::CpSquareShapeBoundary::getForwardDistance(), sm_dance_bot_warehouse_3::cl_nav2z::CpSquareShapeBoundary::getForwardDistance(), sm_dance_bot_warehouse::cl_lidar::CpForwardObstacleDetector::getForwardDistance(), sm_dance_bot_warehouse_2::cl_lidar::CpForwardObstacleDetector::getForwardDistance(), sm_dance_bot_warehouse_3::cl_lidar::CpForwardObstacleDetector::getForwardDistance(), cl_move_group_interface::CpTrajectoryHistory::getLastTrajectory(), cl_nav2z::WaypointNavigator::loadWayPointsFromFile(), cl_nav2z::WaypointNavigator::loadWayPointsFromFile2(), cl_nav2z::odom_tracker::OdomTracker::logStateString(), sm_dance_bot_strikes_back::cl_lidar::CpLidarSensorData::MessageCallbackStoreDistanceToWall(), cl_nav2z::WaypointNavigator::onGoalReached(), smacc2::components::CpTopicSubscriber< MessageType >::onInitialize(), cl_nav2z::CostmapSwitch::onInitialize(), cl_nav2z::odom_tracker::OdomTracker::onInitialize(), cl_nav2z::Pose::onInitialize(), cl_nav2z::odom_tracker::OdomTracker::popPath(), cl_nav2z::odom_tracker::OdomTracker::pushPath(), cl_move_group_interface::CpTrajectoryHistory::pushTrajectory(), cl_nav2z::CostmapSwitch::registerProxyFromDynamicReconfigureServer(), cl_nav2z::WaypointNavigator::sendNextGoal(), cl_nav2z::PlannerSwitcher::setBackwardPlanner(), cl_nav2z::PlannerSwitcher::setForwardPlanner(), cl_nav2z::GoalCheckerSwitcher::setGoalCheckerId(), cl_nav2z::PlannerSwitcher::setPureSpinningPlanner(), cl_nav2z::odom_tracker::OdomTracker::setStartPoint(), cl_nav2z::PlannerSwitcher::setUndoPathBackwardPlanner(), cl_nav2z::odom_tracker::OdomTracker::setWorkingMode(), cl_nav2z::Pose::update(), cl_nav2z::odom_tracker::OdomTracker::updateClearPath(), and cl_nav2z::Pose::waitTransformUpdate().

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getName()

std::string smacc2::ISmaccComponent::getName ( ) const

virtual

Reimplemented in cl_nav2z::Amcl.

Definition at line 46 of file smacc_component.cpp.

{
  std::string keyname = demangleSymbol(typeid(*this).name());
  return keyname;
}

References smacc2::introspection::demangleSymbol().

Referenced by cl_move_group_interface::CpGraspingComponent::createGraspableBox(), sm_dance_bot_warehouse::cl_nav2z::CpSquareShapeBoundary::getForwardDistance(), sm_dance_bot_warehouse_2::cl_nav2z::CpSquareShapeBoundary::getForwardDistance(), sm_dance_bot_warehouse_3::cl_nav2z::CpSquareShapeBoundary::getForwardDistance(), sm_dance_bot_warehouse::cl_lidar::CpForwardObstacleDetector::getForwardDistance(), sm_dance_bot_warehouse_2::cl_lidar::CpForwardObstacleDetector::getForwardDistance(), sm_dance_bot_warehouse_3::cl_lidar::CpForwardObstacleDetector::getForwardDistance(), cl_move_group_interface::CpTrajectoryHistory::getLastTrajectory(), smacc2::components::CpTopicSubscriber< MessageType >::onInitialize(), cl_move_group_interface::CpTrajectoryHistory::pushTrajectory(), and cl_nav2z::WaypointNavigator::sendNextGoal().

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getNode()

rclcpp::Node::SharedPtr smacc2::ISmaccComponent::getNode ( )

protected

Definition at line 42 of file smacc_component.cpp.

{ return owner_->getNode(); }

References smacc2::ISmaccClient::getNode(), and owner_.

Referenced by cl_nav2z::odom_tracker::OdomTracker::clearPath(), sm_dance_bot_warehouse::cl_lidar::CpForwardObstacleDetector::getForwardDistance(), sm_dance_bot_warehouse_2::cl_lidar::CpForwardObstacleDetector::getForwardDistance(), sm_dance_bot_warehouse_3::cl_lidar::CpForwardObstacleDetector::getForwardDistance(), sm_dance_bot_strikes_back::cl_lidar::CpLidarSensorData::MessageCallbackStoreDistanceToWall(), smacc2::components::CpTopicSubscriber< MessageType >::onInitialize(), cl_nav2z::Amcl::onInitialize(), cl_nav2z::GoalCheckerSwitcher::onInitialize(), cl_nav2z::odom_tracker::OdomTracker::onInitialize(), cl_nav2z::PlannerSwitcher::onInitialize(), cl_nav2z::Pose::onInitialize(), cl_nav2z::CostmapSwitch::registerProxyFromDynamicReconfigureServer(), cl_nav2z::WaypointNavigator::sendNextGoal(), cl_nav2z::odom_tracker::OdomTracker::setStartPoint(), cl_nav2z::Pose::update(), cl_nav2z::odom_tracker::OdomTracker::updateConfiguration(), and cl_nav2z::Pose::waitTransformUpdate().

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getStateMachine()

ISmaccStateMachine * smacc2::ISmaccComponent::getStateMachine ( )

protected

Definition at line 52 of file smacc_component.cpp.

{ return this->stateMachine_; }

References stateMachine_.

Referenced by smacc2::components::CpTopicSubscriber< MessageType >::onFirstMessageReceived(), and smacc2::components::CpTopicSubscriber< MessageType >::onMessageReceived().

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initialize()

void smacc2::ISmaccComponent::initialize ( ISmaccClient *  owner )

private

Definition at line 29 of file smacc_component.cpp.

{
  owner_ = owner;
  this->onInitialize();
}

References onInitialize(), and owner_.

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onInitialize()

void smacc2::ISmaccComponent::onInitialize ( )

protectedvirtual

Reimplemented in smacc2::components::CpTopicPublisher< MessageType >, smacc2::components::CpTopicPublisher< geometry_msgs::msg::PoseWithCovarianceStamped >, smacc2::components::CpTopicPublisher< geometry_msgs::msg::PoseStamped >, smacc2::components::CpTopicPublisher< std_msgs::msg::Int8 >, smacc2::components::CpTopicSubscriber< MessageType >, cl_nav2z::Amcl, cl_nav2z::CostmapSwitch, cl_nav2z::GoalCheckerSwitcher, cl_nav2z::odom_tracker::OdomTracker, cl_nav2z::PlannerSwitcher, cl_nav2z::Pose, cl_nav2z::WaypointNavigator, cl_nav2z::TrajectoryStorage, sm_dance_bot_strikes_back::cl_lidar::CpLidarSensorData, sm_dance_bot_warehouse::cl_lidar::CpForwardObstacleDetector, sm_dance_bot_warehouse::cl_nav2z::CpSquareShapeBoundary, sm_dance_bot_warehouse_2::cl_lidar::CpForwardObstacleDetector, sm_dance_bot_warehouse_2::cl_nav2z::CpSquareShapeBoundary, sm_dance_bot_warehouse_3::cl_lidar::CpForwardObstacleDetector, and sm_dance_bot_warehouse_3::cl_nav2z::CpSquareShapeBoundary.

Definition at line 35 of file smacc_component.cpp.

{}

Referenced by initialize().

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onOrthogonalAllocation()

template<typename TOrthogonal , typename TSourceObject >

void smacc2::ISmaccComponent::onOrthogonalAllocation ( )

inlineprotected

Definition at line 51 of file component.hpp.

  {
  }

postEvent() [1/2]

template<typename EventType >

void smacc2::ISmaccComponent::postEvent ( )

protected

Referenced by smacc2::components::CpTopicSubscriber< MessageType >::onOrthogonalAllocation().

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postEvent() [2/2]

template<typename EventType >

void smacc2::ISmaccComponent::postEvent ( const EventType &  ev )

protected

Definition at line 31 of file smacc_component_impl.hpp.

{
  stateMachine_->postEvent(ev);
}

References smacc2::ISmaccStateMachine::postEvent(), and stateMachine_.

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requiresClient()

template<typename TClient >

void smacc2::ISmaccComponent::requiresClient ( TClient *&  requiredClientStorage )

protected

Definition at line 43 of file smacc_component_impl.hpp.

{
  this->owner_->requiresClient(requiredClientStorage);
}

References owner_, and smacc2::ISmaccClient::requiresClient().

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requiresComponent()

template<typename TComponent >

void smacc2::ISmaccComponent::requiresComponent ( TComponent *&  requiredComponentStorage )

protected

Definition at line 37 of file smacc_component_impl.hpp.

{
  requiredComponentStorage = this->owner_->getComponent<TComponent>();
}

References smacc2::ISmaccClient::getComponent(), and owner_.

Referenced by sm_dance_bot_warehouse::cl_nav2z::CpSquareShapeBoundary::onInitialize(), sm_dance_bot_warehouse_2::cl_nav2z::CpSquareShapeBoundary::onInitialize(), and sm_dance_bot_warehouse_3::cl_nav2z::CpSquareShapeBoundary::onInitialize().

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setStateMachine()

void smacc2::ISmaccComponent::setStateMachine ( ISmaccStateMachine *  stateMachine )

private

Definition at line 37 of file smacc_component.cpp.

{
  stateMachine_ = stateMachine;
}

References stateMachine_.

Friends And Related Function Documentation

ISmaccClient

friend class ISmaccClient

friend

Definition at line 88 of file component.hpp.

ISmaccOrthogonal

friend class ISmaccOrthogonal

friend

Definition at line 87 of file component.hpp.

Member Data Documentation

owner_

ISmaccClient* smacc2::ISmaccComponent::owner_

protected

Definition at line 77 of file component.hpp.

Referenced by createSiblingComponent(), createSiblingNamedComponent(), getLogger(), getNode(), initialize(), cl_nav2z::CostmapSwitch::onInitialize(), cl_nav2z::WaypointNavigator::onInitialize(), sm_dance_bot_strikes_back::cl_lidar::CpLidarSensorData::onInitialize(), sm_dance_bot_warehouse::cl_lidar::CpForwardObstacleDetector::onInitialize(), sm_dance_bot_warehouse_2::cl_lidar::CpForwardObstacleDetector::onInitialize(), sm_dance_bot_warehouse_3::cl_lidar::CpForwardObstacleDetector::onInitialize(), requiresClient(), requiresComponent(), and cl_nav2z::WaypointNavigator::sendNextGoal().

stateMachine_

ISmaccStateMachine* smacc2::ISmaccComponent::stateMachine_

protected

Definition at line 75 of file component.hpp.

Referenced by getStateMachine(), postEvent(), and setStateMachine().

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

• smacc2/include/smacc2/component.hpp
• smacc2/include/smacc2/impl/smacc_component_impl.hpp
• smacc2/src/smacc2/smacc_component.cpp