#include <smacc_subscriber_client.hpp>

Inheritance diagram for smacc2::client_bases::SmaccSubscriberClient< MessageType >:

Collaboration diagram for smacc2::client_bases::SmaccSubscriberClient< MessageType >:

Public Types
typedef MessageType	TMessageType

Public Member Functions
	SmaccSubscriberClient ()

	SmaccSubscriberClient (std::string topicname)

virtual	~SmaccSubscriberClient ()

template<typename T >
boost::signals2::connection	onMessageReceived (void(T::callback)(const MessageType &), T object)

template<typename T >
boost::signals2::connection	onFirstMessageReceived (void(T::callback)(const MessageType &), T object)

template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()

Public Member Functions inherited from smacc2::ISmaccClient
	ISmaccClient ()

virtual	~ISmaccClient ()

virtual void	onInitialize ()

virtual std::string	getName () const

template<typename TComponent >
TComponent *	getComponent ()

template<typename TComponent >
TComponent *	getComponent (std::string name)

template<typename TComponent >
TComponent *	getComponent (int index)

virtual smacc2::introspection::TypeInfo::Ptr	getType ()

ISmaccStateMachine *	getStateMachine ()

template<typename TSmaccSignal , typename T >
void	connectSignal (TSmaccSignal &signal, void(T::callback)(), T object)

template<typename SmaccClientType >
void	requiresClient (SmaccClientType *&storage)

void	getComponents (std::vector< std::shared_ptr< ISmaccComponent > > &components)

template<typename EventType >
void	postEvent (const EventType &ev)

template<typename EventType >
void	postEvent ()

Public Attributes
std::optional< std::string >	topicName

std::optional< int >	queueSize

smacc2::SmaccSignal< void(const MessageType &)>	onFirstMessageReceived_

smacc2::SmaccSignal< void(const MessageType &)>	onMessageReceived_

std::function< void(const MessageType &)>	postMessageEvent

std::function< void(const MessageType &)>	postInitialMessageEvent

Protected Member Functions
void	onInitialize () override

Protected Member Functions inherited from smacc2::ISmaccClient
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()

template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createComponent (TArgs... targs)

template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createNamedComponent (std::string name, TArgs... targs)

rclcpp::Node::SharedPtr	getNode ()

rclcpp::Logger	getLogger ()

Private Member Functions
void	messageCallback (const MessageType &msg)

Private Attributes
rclcpp::Subscription< MessageType >::SharedPtr	sub_

bool	firstMessage_

bool	initialized_

Additional Inherited Members
Protected Attributes inherited from smacc2::ISmaccClient
std::map< ComponentKey, std::shared_ptr< smacc2::ISmaccComponent > >	components_

Detailed Description

template<typename MessageType>
class smacc2::client_bases::SmaccSubscriberClient< MessageType >

Definition at line 38 of file smacc_subscriber_client.hpp.

Member Typedef Documentation

◆ TMessageType

template<typename MessageType >

typedef MessageType smacc2::client_bases::SmaccSubscriberClient< MessageType >::TMessageType

Definition at line 44 of file smacc_subscriber_client.hpp.

Constructor & Destructor Documentation

◆ SmaccSubscriberClient() [1/2]

template<typename MessageType >

smacc2::client_bases::SmaccSubscriberClient< MessageType >::SmaccSubscriberClient ( )

inline

Definition at line 46 of file smacc_subscriber_client.hpp.

46{ initialized_ = false; }

smacc2::client_bases::SmaccSubscriberClient::initialized_

bool initialized_

Definition: smacc_subscriber_client.hpp:124

References smacc2::client_bases::SmaccSubscriberClient< MessageType >::initialized_.

◆ SmaccSubscriberClient() [2/2]

template<typename MessageType >

smacc2::client_bases::SmaccSubscriberClient< MessageType >::SmaccSubscriberClient ( std::string topicname )

inline

Definition at line 48 of file smacc_subscriber_client.hpp.

48{ topicName = topicname; }

smacc2::client_bases::SmaccSubscriberClient::topicName

std::optional< std::string > topicName

Definition: smacc_subscriber_client.hpp:41

References smacc2::client_bases::SmaccSubscriberClient< MessageType >::topicName.

◆ ~SmaccSubscriberClient()

template<typename MessageType >

virtual smacc2::client_bases::SmaccSubscriberClient< MessageType >::~SmaccSubscriberClient ( )

inlinevirtual

Definition at line 50 of file smacc_subscriber_client.hpp.

50{}

Member Function Documentation

◆ messageCallback()

template<typename MessageType >

void smacc2::client_bases::SmaccSubscriberClient< MessageType >::messageCallback ( const MessageType & msg )

inlineprivate

Definition at line 126 of file smacc_subscriber_client.hpp.

  {
    if (firstMessage_)
    {
      postInitialMessageEvent(msg);
      onFirstMessageReceived_(msg);
      firstMessage_ = false;
    }
 
    postMessageEvent(msg);
    onMessageReceived_(msg);
  }

References smacc2::client_bases::SmaccSubscriberClient< MessageType >::firstMessage_, smacc2::client_bases::SmaccSubscriberClient< MessageType >::onFirstMessageReceived_, smacc2::client_bases::SmaccSubscriberClient< MessageType >::onMessageReceived_, smacc2::client_bases::SmaccSubscriberClient< MessageType >::postInitialMessageEvent, and smacc2::client_bases::SmaccSubscriberClient< MessageType >::postMessageEvent.

Referenced by smacc2::client_bases::SmaccSubscriberClient< MessageType >::onInitialize().

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◆ onFirstMessageReceived()

template<typename MessageType >

template<typename T >

boost::signals2::connection smacc2::client_bases::SmaccSubscriberClient< MessageType >::onFirstMessageReceived	(	void(T::*)(const MessageType &)	callback,
		T *	object
	)

inline

Definition at line 66 of file smacc_subscriber_client.hpp.

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

References callback(), smacc2::ISmaccStateMachine::createSignalConnection(), and smacc2::ISmaccClient::getStateMachine().

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◆ onInitialize()

template<typename MessageType >

void smacc2::client_bases::SmaccSubscriberClient< MessageType >::onInitialize ( )

inlineoverrideprotectedvirtual

Reimplemented from smacc2::ISmaccClient.

Reimplemented in cl_multirole_sensor::ClMultiroleSensor< MessageType >, cl_multirole_sensor::ClMultiroleSensor< sensor_msgs::msg::LaserScan >, and cl_multirole_sensor::ClMultiroleSensor< sensor_msgs::msg::Temperature >.

Definition at line 92 of file smacc_subscriber_client.hpp.

  {
    if (!initialized_)
    {
      firstMessage_ = true;
 
      if (!queueSize) queueSize = 1;
 
      if (!topicName)
      {
        RCLCPP_ERROR(getLogger(), "topic client with no topic name set. Skipping subscribing");
      }
      else
      {
        RCLCPP_INFO_STREAM(
          getLogger(), "[" << this->getName() << "] Subscribing to topic: " << *topicName);
 
        rclcpp::SensorDataQoS qos;
        if (queueSize) qos.keep_last(*queueSize);
 
        std::function<void(typename MessageType::SharedPtr)> fn = [this](auto msg) {
          this->messageCallback(*msg);
        };
        sub_ = getNode()->create_subscription<MessageType>(*topicName, qos, fn);
        this->initialized_ = true;
      }
    }
  }

References smacc2::client_bases::SmaccSubscriberClient< MessageType >::firstMessage_, smacc2::ISmaccClient::getLogger(), smacc2::ISmaccClient::getName(), smacc2::ISmaccClient::getNode(), smacc2::client_bases::SmaccSubscriberClient< MessageType >::initialized_, smacc2::client_bases::SmaccSubscriberClient< MessageType >::messageCallback(), smacc2::client_bases::SmaccSubscriberClient< MessageType >::queueSize, smacc2::client_bases::SmaccSubscriberClient< MessageType >::sub_, and smacc2::client_bases::SmaccSubscriberClient< MessageType >::topicName.

Referenced by cl_multirole_sensor::ClMultiroleSensor< MessageType >::onInitialize().

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◆ onMessageReceived()

template<typename MessageType >

template<typename T >

boost::signals2::connection smacc2::client_bases::SmaccSubscriberClient< MessageType >::onMessageReceived	(	void(T::*)(const MessageType &)	callback,
		T *	object
	)

inline

Definition at line 59 of file smacc_subscriber_client.hpp.

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

References callback(), smacc2::ISmaccStateMachine::createSignalConnection(), and smacc2::ISmaccClient::getStateMachine().

Referenced by sm_ferrari::cl_subscriber::CbMySubscriberBehavior::onEntry(), sm_pubsub_1::cl_subscriber::CbMySubscriberBehavior::onEntry(), smacc2::client_behaviors::CbSubscriptionCallbackBase< TMsg >::onEntry(), cl_multirole_sensor::ClMultiroleSensor< MessageType >::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(), and sm_dance_bot_warehouse_3::cl_lidar::CpForwardObstacleDetector::onInitialize().

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◆ onOrthogonalAllocation()

template<typename MessageType >

template<typename TOrthogonal , typename TSourceObject >

void smacc2::client_bases::SmaccSubscriberClient< MessageType >::onOrthogonalAllocation ( )

inline

Definition at line 74 of file smacc_subscriber_client.hpp.

  {
    // ros topic message received smacc event callback
    this->postMessageEvent = [this](auto msg) {
      auto event = new EvTopicMessage<TSourceObject, TOrthogonal>();
      event->msgData = msg;
      this->postEvent(event);
    };
 
    // initial ros topic message received smacc event callback
    this->postInitialMessageEvent = [this](auto msg) {
      auto event = new EvTopicInitialMessage<TSourceObject, TOrthogonal>();
      event->msgData = msg;
      this->postEvent(event);
    };
  }