smacc2::ISmaccOrthogonal Class Reference

#include <smacc_orthogonal.hpp>

Inheritance diagram for smacc2::ISmaccOrthogonal:

Collaboration diagram for smacc2::ISmaccOrthogonal:

Public Member Functions
void	setStateMachine (ISmaccStateMachine *value)
ISmaccStateMachine *	getStateMachine ()
void	addClientBehavior (std::shared_ptr< smacc2::ISmaccClientBehavior > clientBehavior)
void	runtimeConfigure ()
void	onEntry ()
void	onExit ()
virtual std::string	getName () const
template<typename SmaccComponentType >
void	requiresComponent (SmaccComponentType *&storage)
template<typename SmaccClientType >
bool	requiresClient (SmaccClientType *&storage)
const std::vector< std::shared_ptr< smacc2::ISmaccClient > > &	getClients ()
const std::vector< std::shared_ptr< smacc2::ISmaccClientBehavior > > &	getClientBehaviors () const
template<typename T >
void	setGlobalSMData (std::string name, T value)
template<typename T >
bool	getGlobalSMData (std::string name, T &ret)
template<typename TClientBehavior >
TClientBehavior *	getClientBehavior ()
rclcpp::Node::SharedPtr	getNode ()
rclcpp::Logger	getLogger ()

Protected Member Functions
virtual void	onInitialize ()
void	initializeClients ()
template<typename TOrthogonal , typename TClient >
void	assignClientToOrthogonal (TClient *client)

Protected Attributes
std::vector< std::shared_ptr< smacc2::ISmaccClient > >	clients_

Private Attributes
ISmaccStateMachine *	stateMachine_
std::vector< std::shared_ptr< smacc2::ISmaccClientBehavior > >	clientBehaviors_

Friends
class	ISmaccStateMachine

Detailed Description

Definition at line 27 of file smacc_orthogonal.hpp.

Member Function Documentation

addClientBehavior()

void smacc2::ISmaccOrthogonal::addClientBehavior

(

std::shared_ptr< smacc2::ISmaccClientBehavior >

clientBehavior

)

Definition at line 49 of file orthogonal.cpp.

{
  if (clBehavior != nullptr)
  {
    RCLCPP_INFO(
      getLogger(), "[Orthogonal %s] adding client behavior: %s", this->getName().c_str(),
      clBehavior->getName().c_str());
    clBehavior->stateMachine_ = this->getStateMachine();
    clBehavior->currentOrthogonal = this;
 
    clientBehaviors_.push_back(clBehavior);
  }
  else
  {
    RCLCPP_INFO(
      getLogger(), "[orthogonal %s] no client behaviors in this state", this->getName().c_str());
  }
}

References clientBehaviors_, getLogger(), getName(), and getStateMachine().

Here is the call graph for this function:

assignClientToOrthogonal()

template<typename TOrthogonal , typename TClient >

void smacc2::ISmaccOrthogonal::assignClientToOrthogonal ( TClient *  client )

protected

Definition at line 82 of file smacc_orthogonal_impl.hpp.

{
  client->setStateMachine(getStateMachine());
  client->setOrthogonal(this);
 
  client->template onOrthogonalAllocation<TOrthogonal, TClient>();
}

References getStateMachine().

Here is the call graph for this function:

getClientBehavior()

template<typename TClientBehavior >

TClientBehavior * smacc2::ISmaccOrthogonal::getClientBehavior

Definition at line 91 of file smacc_orthogonal_impl.hpp.

{
  for (auto & cb : this->clientBehaviors_)
  {
    auto * ret = dynamic_cast<TClientBehavior *>(cb.get());
    if (ret != nullptr)
    {
      return ret;
    }
  }
 
  return nullptr;
}

References clientBehaviors_.

getClientBehaviors()

const std::vector< std::shared_ptr< smacc2::ISmaccClientBehavior > > & smacc2::ISmaccOrthogonal::getClientBehaviors ( ) const

inline

Definition at line 111 of file smacc_orthogonal_impl.hpp.

{
  return this->clientBehaviors_;
}

References clientBehaviors_.

getClients()

const std::vector< std::shared_ptr< smacc2::ISmaccClient > > & smacc2::ISmaccOrthogonal::getClients ( )

inline

Definition at line 105 of file smacc_orthogonal_impl.hpp.

{
  return clients_;
}

References clients_.

getGlobalSMData()

template<typename T >

bool smacc2::ISmaccOrthogonal::getGlobalSMData	(	std::string	name,
		T &	ret
	)

Definition at line 123 of file smacc_orthogonal_impl.hpp.

{
  return this->getStateMachine()->getGlobalSMData(name, ret);
}

References smacc2::ISmaccStateMachine::getGlobalSMData(), and getStateMachine().

Here is the call graph for this function:

getLogger()

rclcpp::Logger smacc2::ISmaccOrthogonal::getLogger ( )

inline

Definition at line 65 of file smacc_orthogonal.hpp.

{ return getNode()->get_logger(); }

References getNode().

Referenced by addClientBehavior(), smacc2::Orthogonal< TOrthogonal >::createClient(), sm_aws_warehouse_navigation::OrNavigation::loadWaypointsFromYaml(), sm_dance_bot::OrNavigation::loadWaypointsFromYaml(), sm_dance_bot_strikes_back::OrNavigation::loadWaypointsFromYaml(), sm_dance_bot_warehouse::OrNavigation::loadWaypointsFromYaml(), sm_dance_bot_warehouse_2::OrNavigation::loadWaypointsFromYaml(), sm_dance_bot_warehouse_3::OrNavigation::loadWaypointsFromYaml(), sm_husky_barrel_search_1::OrNavigation::loadWaypointsFromYaml(), onEntry(), onExit(), requiresClient(), requiresComponent(), and runtimeConfigure().

Here is the call graph for this function:

Here is the caller graph for this function:

getName()

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

virtual

Definition at line 70 of file orthogonal.cpp.

{ return demangleSymbol(typeid(*this).name()); }

References smacc2::introspection::demangleSymbol().

Referenced by addClientBehavior(), and runtimeConfigure().

Here is the call graph for this function:

Here is the caller graph for this function:

getNode()

rclcpp::Node::SharedPtr smacc2::ISmaccOrthogonal::getNode

(

)

Definition at line 47 of file orthogonal.cpp.

{ return this->stateMachine_->getNode(); }

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

Referenced by getLogger(), sm_aws_warehouse_navigation::OrNavigation::loadWaypointsFromYaml(), sm_dance_bot::OrNavigation::loadWaypointsFromYaml(), sm_dance_bot_strikes_back::OrNavigation::loadWaypointsFromYaml(), sm_dance_bot_warehouse::OrNavigation::loadWaypointsFromYaml(), sm_dance_bot_warehouse_2::OrNavigation::loadWaypointsFromYaml(), sm_dance_bot_warehouse_3::OrNavigation::loadWaypointsFromYaml(), and sm_husky_barrel_search_1::OrNavigation::loadWaypointsFromYaml().

Here is the call graph for this function:

Here is the caller graph for this function:

getStateMachine()

ISmaccStateMachine * smacc2::ISmaccOrthogonal::getStateMachine ( )

inline

Definition at line 129 of file smacc_orthogonal_impl.hpp.

{ return this->stateMachine_; }

References stateMachine_.

Referenced by addClientBehavior(), assignClientToOrthogonal(), getGlobalSMData(), requiresClient(), and setGlobalSMData().

Here is the caller graph for this function:

initializeClients()

void smacc2::ISmaccOrthogonal::initializeClients ( )

protected

Definition at line 39 of file orthogonal.cpp.

{
  for (auto & c : this->clients_)
  {
    c->initialize();
  }
}

References clients_.

Referenced by setStateMachine().

Here is the caller graph for this function:

onEntry()

void smacc2::ISmaccOrthogonal::onEntry

(

)

Definition at line 84 of file orthogonal.cpp.

{
  if (clientBehaviors_.size() > 0)
  {
    for (auto & clBehavior : clientBehaviors_)
    {
      RCLCPP_INFO(
        getLogger(), "[Orthogonal %s] OnEntry, current Behavior: %s", orthogonalName, cbName);
 
      try
      {
        TRACEPOINT(smacc2_client_behavior_on_entry_start, statename, orthogonalName, cbName);
        clBehavior->executeOnEntry();
      }
      catch (const std::exception & e)
      {
        RCLCPP_ERROR(
          getLogger(),
          "[ClientBehavior %s] Exception on Entry - continuing with next client behavior. "
          "Exception info: "
          "%s",
          cbName, e.what());
      }
      TRACEPOINT(smacc2_client_behavior_on_entry_end, statename, orthogonalName, cbName);
    }
  }
  else
  {
    RCLCPP_INFO(
      getLogger(), "[Orthogonal %s] OnEntry -> empty orthogonal (no client behavior) ",
      orthogonalName);
  }
}

References cbName, clientBehaviors_, getLogger(), orthogonalName, smacc2_client_behavior_on_entry_end, smacc2_client_behavior_on_entry_start, statename, and TRACEPOINT().

Here is the call graph for this function:

onExit()

void smacc2::ISmaccOrthogonal::onExit

(

)

Definition at line 118 of file orthogonal.cpp.

{
  if (clientBehaviors_.size() > 0)
  {
    for (auto & clBehavior : clientBehaviors_)
    {
      RCLCPP_INFO(
        getLogger(), "[Orthogonal %s] OnExit, current Behavior: %s", orthogonalName, cbName);
      try
      {
        TRACEPOINT(smacc2_client_behavior_on_exit_start, statename, orthogonalName, cbName);
        clBehavior->executeOnExit();
      }
      catch (const std::exception & e)
      {
        RCLCPP_ERROR(
          getLogger(),
          "[ClientBehavior %s] Exception onExit - continuing with next client behavior. Exception "
          "info: %s",
          cbName, e.what());
      }
      TRACEPOINT(smacc2_client_behavior_on_exit_end, statename, orthogonalName, cbName);
    }
 
    int i = 0;
    for (auto & clBehavior : clientBehaviors_)
    {
      clBehavior->dispose();
      clientBehaviors_[i] = nullptr;
    }
 
    clientBehaviors_.clear();
  }
  else
  {
    RCLCPP_INFO(getLogger(), "[Orthogonal %s] OnExit", orthogonalName);
  }
}

References cbName, clientBehaviors_, getLogger(), orthogonalName, smacc2_client_behavior_on_exit_end, smacc2_client_behavior_on_exit_start, statename, and TRACEPOINT().

Here is the call graph for this function:

onInitialize()

void smacc2::ISmaccOrthogonal::onInitialize ( )

protectedvirtual

Reimplemented in sm_atomic_subscribers_performance_test::OrSubscriber, $sm_name$::OrTimer, sm_advanced_recovery_1::OrKeyboard, sm_advanced_recovery_1::OrSubscriber, sm_advanced_recovery_1::OrTimer, sm_advanced_recovery_1::OrUpdatablePublisher, sm_atomic::OrTimer, sm_atomic_24hr::OrTimer, sm_autoware_avp::OrAutowareAuto, sm_autoware_avp::OrTimer, sm_aws_warehouse_navigation::OrNavigation, sm_branching::OrTimer, sm_dance_bot::OrLED, sm_dance_bot::OrNavigation, sm_dance_bot::OrObstaclePerception, sm_dance_bot::OrService3, sm_dance_bot::OrStringPublisher, sm_dance_bot::OrTemperatureSensor, sm_dance_bot::OrTimer, sm_dance_bot::OrUpdatablePublisher, sm_dance_bot_strikes_back::OrLED, sm_dance_bot_strikes_back::OrNavigation, sm_dance_bot_strikes_back::OrObstaclePerception, sm_dance_bot_strikes_back::OrService3, sm_dance_bot_strikes_back::OrStringPublisher, sm_dance_bot_strikes_back::OrTemperatureSensor, sm_dance_bot_strikes_back::OrTimer, sm_dance_bot_strikes_back::OrUpdatablePublisher, sm_dance_bot_warehouse::OrLED, sm_dance_bot_warehouse::OrNavigation, sm_dance_bot_warehouse::OrObstaclePerception, sm_dance_bot_warehouse::OrService3, sm_dance_bot_warehouse::OrStringPublisher, sm_dance_bot_warehouse::OrTemperatureSensor, sm_dance_bot_warehouse::OrTimer, sm_dance_bot_warehouse::OrUpdatablePublisher, sm_dance_bot_warehouse_2::OrLED, sm_dance_bot_warehouse_2::OrNavigation, sm_dance_bot_warehouse_2::OrObstaclePerception, sm_dance_bot_warehouse_2::OrService3, sm_dance_bot_warehouse_2::OrStringPublisher, sm_dance_bot_warehouse_2::OrTemperatureSensor, sm_dance_bot_warehouse_2::OrTimer, sm_dance_bot_warehouse_2::OrUpdatablePublisher, sm_dance_bot_warehouse_3::OrLED, sm_dance_bot_warehouse_3::OrNavigation, sm_dance_bot_warehouse_3::OrObstaclePerception, sm_dance_bot_warehouse_3::OrService3, sm_dance_bot_warehouse_3::OrStringPublisher, sm_dance_bot_warehouse_3::OrTemperatureSensor, sm_dance_bot_warehouse_3::OrTimer, sm_dance_bot_warehouse_3::OrUpdatablePublisher, sm_ferrari::OrKeyboard, sm_ferrari::OrSubscriber, sm_ferrari::OrTimer, sm_ferrari::OrUpdatablePublisher, sm_husky_barrel_search_1::OrLedArray, sm_husky_barrel_search_1::OrNavigation, sm_husky_barrel_search_1::OrPerception, sm_multi_stage_1::OrKeyboard, sm_multi_stage_1::OrSubscriber, sm_multi_stage_1::OrTimer, sm_multi_stage_1::OrUpdatablePublisher, sm_pubsub_1::OrKeyboard, sm_pubsub_1::OrSubscriber, sm_pubsub_1::OrTimer, sm_pubsub_1::OrUpdatablePublisher, sm_respira_1::OrKeyboard, sm_respira_1::OrSubscriber, sm_respira_1::OrTimer, sm_respira_1::OrUpdatablePublisher, sm_test_moveit_ur5_sim::OrArm, sm_three_some::OrKeyboard, sm_three_some::OrSubscriber, sm_three_some::OrTimer, and sm_three_some::OrUpdatablePublisher.

Definition at line 68 of file orthogonal.cpp.

{}

Referenced by setStateMachine().

Here is the caller graph for this function:

requiresClient()

template<typename SmaccClientType >

bool smacc2::ISmaccOrthogonal::requiresClient

(

SmaccClientType *&

storage

)

Definition at line 29 of file smacc_orthogonal_impl.hpp.

{
  for (auto & client : clients_)
  {
    storage = dynamic_cast<SmaccClientType *>(client.get());
    if (storage != nullptr) return true;
  }
 
  auto requiredClientName = demangledTypeName<SmaccClientType>();
  RCLCPP_WARN_STREAM(
    getLogger(), "Required client ["
                   << requiredClientName
                   << "] not found in current orthogonal. Searching in other orthogonals.");
 
  for (auto & orthoentry : this->getStateMachine()->getOrthogonals())
  {
    for (auto & client : orthoentry.second->getClients())
    {
      storage = dynamic_cast<SmaccClientType *>(client.get());
      if (storage != nullptr)
      {
        RCLCPP_WARN_STREAM(
          getLogger(),
          "Required client  [" << requiredClientName << "] found in other orthogonal.");
        return true;
      }
    }
  }
 
  RCLCPP_ERROR_STREAM(
    getLogger(), "Required client ["
                   << requiredClientName
                   << "] not found even in other orthogonals. Returning null pointer. If the "
                      "requested client is used may result in a segmentation fault.");
  return false;
}

References clients_, getLogger(), and getStateMachine().

Referenced by smacc2::ISmaccClient::requiresClient(), and smacc2::ISmaccClientBehavior::requiresClient().

Here is the call graph for this function:

Here is the caller graph for this function:

requiresComponent()

template<typename SmaccComponentType >

void smacc2::ISmaccOrthogonal::requiresComponent

(

SmaccComponentType *&

storage

)

Definition at line 67 of file smacc_orthogonal_impl.hpp.

{
  if (stateMachine_ == nullptr)
  {
    RCLCPP_ERROR(
      getLogger(),
      "Cannot use the requiresComponent funcionality from an orthogonal before onInitialize");
  }
  else
  {
    stateMachine_->requiresComponent(storage);
  }
}

References getLogger(), smacc2::ISmaccStateMachine::requiresComponent(), and stateMachine_.

Here is the call graph for this function:

runtimeConfigure()

void smacc2::ISmaccOrthogonal::runtimeConfigure

(

)

Definition at line 72 of file orthogonal.cpp.

{
  for (auto & clBehavior : clientBehaviors_)
  {
    RCLCPP_INFO(
      getLogger(), "[Orthogonal %s] runtimeConfigure, current Behavior: %s",
      this->getName().c_str(), clBehavior->getName().c_str());
 
    clBehavior->runtimeConfigure();
  }
}

References clientBehaviors_, getLogger(), and getName().

Here is the call graph for this function:

setGlobalSMData()

template<typename T >

void smacc2::ISmaccOrthogonal::setGlobalSMData	(	std::string	name,
		T	value
	)

Definition at line 117 of file smacc_orthogonal_impl.hpp.

{
  this->getStateMachine()->setGlobalSMData(name, value);
}

References getStateMachine(), and smacc2::ISmaccStateMachine::setGlobalSMData().

Here is the call graph for this function:

setStateMachine()

void smacc2::ISmaccOrthogonal::setStateMachine

(

ISmaccStateMachine *

value

)

Definition at line 32 of file orthogonal.cpp.

{
  this->stateMachine_ = value;
  this->onInitialize();
  this->initializeClients();
}

References initializeClients(), onInitialize(), and stateMachine_.

Here is the call graph for this function:

Friends And Related Function Documentation

ISmaccStateMachine

friend class ISmaccStateMachine

friend

Definition at line 81 of file smacc_orthogonal.hpp.

Member Data Documentation

clientBehaviors_

std::vector<std::shared_ptr<smacc2::ISmaccClientBehavior> > smacc2::ISmaccOrthogonal::clientBehaviors_

private

Definition at line 80 of file smacc_orthogonal.hpp.

Referenced by addClientBehavior(), getClientBehavior(), getClientBehaviors(), onEntry(), onExit(), and runtimeConfigure().

clients_

std::vector<std::shared_ptr<smacc2::ISmaccClient> > smacc2::ISmaccOrthogonal::clients_

protected

Definition at line 75 of file smacc_orthogonal.hpp.

Referenced by smacc2::Orthogonal< TOrthogonal >::createClient(), getClients(), initializeClients(), and requiresClient().

stateMachine_

ISmaccStateMachine* smacc2::ISmaccOrthogonal::stateMachine_

private

Definition at line 78 of file smacc_orthogonal.hpp.

Referenced by getNode(), getStateMachine(), requiresComponent(), and setStateMachine().

---

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

• smacc2/include/smacc2/smacc_orthogonal.hpp
• smacc2/include/smacc2/impl/smacc_orthogonal_impl.hpp
• smacc2/src/smacc2/orthogonal.cpp