#include <cb_wait_topic_message.hpp>

Inheritance diagram for smacc2::client_behaviors::CbWaitTopicMessage< TMessage >:

Collaboration diagram for smacc2::client_behaviors::CbWaitTopicMessage< TMessage >:

Public Member Functions
	CbWaitTopicMessage (const char *topicname, std::function< bool(const TMessage &)> guardFunction=nullptr)

virtual	~CbWaitTopicMessage ()

void	onEntry () override

void	onMessageReceived (const typename TMessage::SharedPtr msg)

Public Member Functions inherited from smacc2::SmaccAsyncClientBehavior
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 Attributes
bool	success = false

rclcpp::Subscription< TMessage >::SharedPtr	sub_

std::function< bool(const TMessage &)>	guardFn_

std::string	topicname_

Additional Inherited Members
Protected Member Functions inherited from smacc2::SmaccAsyncClientBehavior
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 ()

Detailed Description

template<typename TMessage>
class smacc2::client_behaviors::CbWaitTopicMessage< TMessage >

Definition at line 36 of file cb_wait_topic_message.hpp.

Constructor & Destructor Documentation

◆ CbWaitTopicMessage()

template<typename TMessage >

smacc2::client_behaviors::CbWaitTopicMessage< TMessage >::CbWaitTopicMessage	(	const char *	topicname,
		std::function< bool(const TMessage &)>	guardFunction = `nullptr`
	)

inline

Definition at line 39 of file cb_wait_topic_message.hpp.

  {
    topicname_ = topicname;
    guardFn_ = guardFunction;
  }

References smacc2::client_behaviors::CbWaitTopicMessage< TMessage >::guardFn_, and smacc2::client_behaviors::CbWaitTopicMessage< TMessage >::topicname_.

◆ ~CbWaitTopicMessage()

template<typename TMessage >

virtual smacc2::client_behaviors::CbWaitTopicMessage< TMessage >::~CbWaitTopicMessage ( )

inlinevirtual

Definition at line 46 of file cb_wait_topic_message.hpp.

46{}

Member Function Documentation

◆ onEntry()

template<typename TMessage >

void smacc2::client_behaviors::CbWaitTopicMessage< TMessage >::onEntry ( )

inlineoverridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 48 of file cb_wait_topic_message.hpp.

  {
    rclcpp::SensorDataQoS qos;
    // qos.reliable();
    // rclcpp::SubscriptionOptions sub_option;
    RCLCPP_INFO_STREAM(
      getLogger(), "[CbWaitTopicMessage] waiting message from topic: "
                     << topicname_ << "[" << demangledTypeName<TMessage>() << "]");
 
    // sub_ = getNode()->create_subscription<TMessage>(
    //   topicname_, qos,
    //   std::bind(&CbWaitTopicMessage<TMessage>::onMessageReceived, this, std::placeholders::_1),
    //   sub_option);
 
    std::function<void(typename TMessage::SharedPtr)> fn = [this](auto msg) {
      this->onMessageReceived(msg);
    };
 
    auto nh = getNode();
    sub_ = nh->create_subscription<TMessage>(topicname_, qos, fn);
  }

References smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getNode(), smacc2::client_behaviors::CbWaitTopicMessage< TMessage >::onMessageReceived(), smacc2::client_behaviors::CbWaitTopicMessage< TMessage >::sub_, and smacc2::client_behaviors::CbWaitTopicMessage< TMessage >::topicname_.

Here is the call graph for this function:

◆ onMessageReceived()

template<typename TMessage >

void smacc2::client_behaviors::CbWaitTopicMessage< TMessage >::onMessageReceived ( const typename TMessage::SharedPtr msg )

inline

Definition at line 70 of file cb_wait_topic_message.hpp.

  {
    if (guardFn_ == nullptr || guardFn_(*msg))
    {
      RCLCPP_INFO(getLogger(), "[CbWaitTopicMessage] message received.");
      success = true;
      this->postSuccessEvent();
    }
  }