SMACC2
component.hpp
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1// Copyright 2021 RobosoftAI Inc.
2//
3// Licensed under the Apache License, Version 2.0 (the "License");
4// you may not use this file except in compliance with the License.
5// You may obtain a copy of the License at
6//
7// http://www.apache.org/licenses/LICENSE-2.0
8//
9// Unless required by applicable law or agreed to in writing, software
10// distributed under the License is distributed on an "AS IS" BASIS,
11// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12// See the License for the specific language governing permissions and
13// limitations under the License.
14
15/*****************************************************************************************************************
16 *
17 * Authors: Pablo Inigo Blasco, Brett Aldrich
18 *
19 ******************************************************************************************************************/
20#pragma once
21
22#include <string>
23
24#include <boost/optional.hpp>
25#include <smacc2/common.hpp>
26
27namespace smacc2
28{
30{
31public:
33
34 virtual ~ISmaccComponent();
35
36 // Returns a custom identifier defined by the specific plugin implementation
37 virtual std::string getName() const;
38
39protected:
40 // this is the basic initialization method that each specific component should
41 // implement. The owner and the node are already available when it is invoked by the client.
42 virtual void onInitialize();
43
44 template <typename EventType>
45 void postEvent(const EventType & ev);
46
47 template <typename EventType>
48 void postEvent();
49
50 template <typename TOrthogonal, typename TSourceObject>
52 {
53 }
54
55 template <typename TComponent>
56 void requiresComponent(TComponent *& requiredComponentStorage);
57
58 template <typename TClient>
59 void requiresClient(TClient *& requiredClientStorage);
60
61 template <typename SmaccComponentType, typename TOrthogonal, typename TClient, typename... TArgs>
62 SmaccComponentType * createSiblingComponent(TArgs... targs);
63
64 template <typename SmaccComponentType, typename TOrthogonal, typename TClient, typename... TArgs>
65 SmaccComponentType * createSiblingNamedComponent(std::string name, TArgs... targs);
66
67 rclcpp::Node::SharedPtr getNode();
68
69 rclcpp::Logger getLogger();
70
71 //inline
73
74 // A reference to the state machine object that owns this resource
76
78
79private:
80 // friend method invoked by the client.
81 void initialize(ISmaccClient * owner);
82
83 // friend method invoked by the client.
84 // Assigns the owner of this resource to the given state machine parameter object
85 void setStateMachine(ISmaccStateMachine * stateMachine);
86
87 friend class ISmaccOrthogonal;
88 friend class ISmaccClient;
89};
90} // namespace smacc2
ISmaccClient * owner_
Definition: component.hpp:77
ISmaccStateMachine * getStateMachine()
void requiresClient(TClient *&requiredClientStorage)
void requiresComponent(TComponent *&requiredComponentStorage)
SmaccComponentType * createSiblingComponent(TArgs... targs)
SmaccComponentType * createSiblingNamedComponent(std::string name, TArgs... targs)
rclcpp::Logger getLogger()
virtual std::string getName() const
void initialize(ISmaccClient *owner)
ISmaccStateMachine * stateMachine_
Definition: component.hpp:75
rclcpp::Node::SharedPtr getNode()
void setStateMachine(ISmaccStateMachine *stateMachine)