#include <smacc_asynchronous_client_behavior.hpp>

Inheritance diagram for smacc2::SmaccAsyncClientBehavior:

Collaboration diagram for smacc2::SmaccAsyncClientBehavior:

Public Member Functions
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()

virtual	~SmaccAsyncClientBehavior ()

template<typename TCallback , typename T >
boost::signals2::connection	onSuccess (TCallback callback, T *object)

template<typename TCallback , typename T >
boost::signals2::connection	onFinished (TCallback callback, T *object)

template<typename TCallback , typename T >
boost::signals2::connection	onFailure (TCallback callback, T *object)

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)

Protected Member Functions
void	postSuccessEvent ()

void	postFailureEvent ()

virtual void	dispose () override

bool	isShutdownRequested ()

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 ()

Private Member Functions
void	waitFutureIfNotFinished (std::future< int > &threadfut)

void	executeOnEntry () override

void	executeOnExit () override

Private Attributes
std::future< int >	onEntryThread_

std::future< int >	onExitThread_

std::function< void()>	postFinishEventFn_

std::function< void()>	postSuccessEventFn_

std::function< void()>	postFailureEventFn_

SmaccSignal< void()>	onFinished_

SmaccSignal< void()>	onSuccess_

SmaccSignal< void()>	onFailure_

bool	isShutdownRequested_

Detailed Description

Definition at line 56 of file smacc_asynchronous_client_behavior.hpp.

Constructor & Destructor Documentation

◆ ~SmaccAsyncClientBehavior()

smacc2::SmaccAsyncClientBehavior::~SmaccAsyncClientBehavior ( )

virtual

Definition at line 112 of file smacc_client_async_behavior.cpp.

112{}

Member Function Documentation

◆ dispose()

void smacc2::SmaccAsyncClientBehavior::dispose ( )

overrideprotectedvirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 89 of file smacc_client_async_behavior.cpp.

{
  RCLCPP_DEBUG_STREAM(
    getLogger(),
    "[" << getName()
        << "] Destroying client behavior- Waiting finishing of asynchronous onExit thread");
  try
  {
    this->onExitThread_.get();
  }
  catch (...)
  {
    RCLCPP_DEBUG(
      getLogger(),
      "[SmaccAsyncClientBehavior] trying to Join onExit function, but it was already finished.");
  }
 
  RCLCPP_DEBUG_STREAM(
    getLogger(),
    "[" << getName()
        << "] Destroying client behavior-  onExit thread finished. Proccedding destruction.");
}

References smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), and onExitThread_.

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◆ executeOnEntry()

void smacc2::SmaccAsyncClientBehavior::executeOnEntry ( )

overrideprivatevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 27 of file smacc_client_async_behavior.cpp.

{
  RCLCPP_INFO_STREAM(getLogger(), "[" << getName() << "] Creating asynchronous onEntry thread");
  this->onEntryThread_ = std::async(std::launch::async, [=] {
    this->onEntry();
    this->postFinishEventFn_();
    RCLCPP_INFO_STREAM(
      getLogger(), "[" << getName() << "] onEntry asynchronous thread was finished.");
    return 0;
  });
}

References smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), smacc2::ISmaccClientBehavior::onEntry(), onEntryThread_, and postFinishEventFn_.

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◆ executeOnExit()

void smacc2::SmaccAsyncClientBehavior::executeOnExit ( )

overrideprivatevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 75 of file smacc_client_async_behavior.cpp.

{
  RCLCPP_INFO_STREAM(getLogger(), "[" << getName() << "] onExit - join async onEntry thread");
 
  waitFutureIfNotFinished(this->onEntryThread_);
 
  RCLCPP_INFO_STREAM(
    getLogger(), "[" << getName() << "] onExit - Creating asynchronous onExit thread");
  this->onExitThread_ = std::async(std::launch::async, [=] {
    this->onExit();
    return 0;
  });
}

References smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), onEntryThread_, smacc2::ISmaccClientBehavior::onExit(), onExitThread_, and waitFutureIfNotFinished().

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◆ isShutdownRequested()

bool smacc2::SmaccAsyncClientBehavior::isShutdownRequested ( )

inlineprotected

Definition at line 79 of file smacc_asynchronous_client_behavior.hpp.

79{ return isShutdownRequested_; }

smacc2::SmaccAsyncClientBehavior::isShutdownRequested_

bool isShutdownRequested_

Definition: smacc_asynchronous_client_behavior.hpp:100

References isShutdownRequested_.

Referenced by smacc2::client_behaviors::CbWaitNode::onEntry().

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◆ onFailure()

template<typename TCallback , typename T >

boost::signals2::connection smacc2::SmaccAsyncClientBehavior::onFailure	(	TCallback	callback,
		T *	object
	)

Definition at line 59 of file smacc_asynchronous_client_behavior_impl.hpp.

{
  return this->getStateMachine()->createSignalConnection(onFailure_, callback, object);
}

References smacc2::ISmaccStateMachine::createSignalConnection(), smacc2::ISmaccClientBehavior::getStateMachine(), and onFailure_.

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◆ onFinished()

template<typename TCallback , typename T >

boost::signals2::connection smacc2::SmaccAsyncClientBehavior::onFinished	(	TCallback	callback,
		T *	object
	)

Definition at line 53 of file smacc_asynchronous_client_behavior_impl.hpp.

{
  return this->getStateMachine()->createSignalConnection(onFinished_, callback, object);
}

References smacc2::ISmaccStateMachine::createSignalConnection(), smacc2::ISmaccClientBehavior::getStateMachine(), and onFinished_.

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◆ onOrthogonalAllocation()

template<typename TOrthogonal , typename TSourceObject >

void smacc2::SmaccAsyncClientBehavior::onOrthogonalAllocation

Definition at line 28 of file smacc_asynchronous_client_behavior_impl.hpp.

{
  postFinishEventFn_ = [this] {
    this->onFinished_();
    this->postEvent<EvCbFinished<TSourceObject, TOrthogonal>>();
  };
 
  postSuccessEventFn_ = [this] {
    this->onSuccess_();
    this->postEvent<EvCbSuccess<TSourceObject, TOrthogonal>>();
  };
 
  postFailureEventFn_ = [this] {
    this->onFailure_();
    this->postEvent<EvCbFailure<TSourceObject, TOrthogonal>>();
  };
}

References onFailure_, onFinished_, onSuccess_, postFailureEventFn_, postFinishEventFn_, and postSuccessEventFn_.

◆ onSuccess()

template<typename TCallback , typename T >

boost::signals2::connection smacc2::SmaccAsyncClientBehavior::onSuccess	(	TCallback	callback,
		T *	object
	)

Definition at line 47 of file smacc_asynchronous_client_behavior_impl.hpp.

{
  return this->getStateMachine()->createSignalConnection(onSuccess_, callback, object);
}

References smacc2::ISmaccStateMachine::createSignalConnection(), smacc2::ISmaccClientBehavior::getStateMachine(), and onSuccess_.

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◆ postFailureEvent()

void smacc2::SmaccAsyncClientBehavior::postFailureEvent ( )

protected

Definition at line 116 of file smacc_client_async_behavior.cpp.

116{ postFailureEventFn_(); }

References postFailureEventFn_.

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◆ postSuccessEvent()

void smacc2::SmaccAsyncClientBehavior::postSuccessEvent ( )

protected

Definition at line 114 of file smacc_client_async_behavior.cpp.

114{ postSuccessEventFn_(); }

References postSuccessEventFn_.

Referenced by cl_move_group_interface::CbMoveEndEffectorTrajectory::executeJointSpaceTrajectory(), cl_move_group_interface::CbMoveJoints::moveJoints(), cl_move_group_interface::CbMoveEndEffectorRelative::moveRelative(), cl_move_group_interface::CbMoveCartesianRelative::moveRelativeCartesian(), cl_move_group_interface::CbMoveEndEffector::moveToAbsolutePose(), smacc2::client_behaviors::CbWaitActionServer::onEntry(), smacc2::client_behaviors::CbWaitNode::onEntry(), cl_move_group_interface::CbAttachObject::onEntry(), cl_move_group_interface::CbDetachObject::onEntry(), cl_nav2z::CbWaitPose::onEntry(), cl_nav2z::CbWaitTransform::onEntry(), sm_dance_bot_warehouse_3::cl_nav2zclient::CbPureSpinning::onEntry(), cl_nav2z::CbWaitNav2Nodes::onMessageReceived(), smacc2::client_behaviors::CbWaitTopicMessage< TMessage >::onMessageReceived(), and cl_nav2z::CbNav2ZClientBehaviorBase::propagateSuccessEvent().

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◆ waitFutureIfNotFinished()

void smacc2::SmaccAsyncClientBehavior::waitFutureIfNotFinished ( std::future< int > & threadfut )

private

Definition at line 39 of file smacc_client_async_behavior.cpp.

{
  try
  {
    rclcpp::Rate r(100);
    while (rclcpp::ok())
    {
      bool valid = threadfut.valid();
      if (valid)
      {
        auto status = threadfut.wait_for(std::chrono::milliseconds(20));
        if (status == std::future_status::ready)
        {
          threadfut.get();
          break;
        }
      }
 
      //r.sleep();
      rclcpp::sleep_for(100ms);
      // rclcpp::spin_some(getNode());
      RCLCPP_WARN_THROTTLE(
        getLogger(), *(getNode()->get_clock()), 1000,
        "[%s] waiting for finishing client behavior, before leaving the state. Is the client "
        "behavior stuck?",
        demangleType(typeid(*this)).c_str());
    }
  }
  catch (const std::exception & e)
  {
    RCLCPP_DEBUG(
      getLogger(),
      "[SmaccAsyncClientBehavior] trying to join function, but it was already finished.");
  }
}