#include <st_state_1.hpp>

Inheritance diagram for $sm_name$::State1:

Collaboration diagram for $sm_name$::State1:

Public Types
typedef boost::mpl::list< Transition< EvStateRequestFinish< State1 >, State2 > >	reactions

typedef boost::mpl::list< Transition< EvTimer< CbTimerCountdownOnce, OrTimer >, State2, SUCCESS > >	reactions

Public Types inherited from smacc2::SmaccState< State1, $SmName$ >
typedef Context	TContext

typedef Context::inner_context_type	context_type

typedef context_type::state_iterator	state_iterator

typedef mpl::list<>	LastDeepState

typedef base_type::outermost_context_base_type	outermost_context_base_type

typedef base_type::inner_context_ptr_type	inner_context_ptr_type

typedef base_type::context_ptr_type	context_ptr_type

typedef base_type::inner_initial_list	inner_initial_list

Public Member Functions
void	runtimeConfigure ()

void	onEntry ()

void	onExit ()

void	runtimeConfigure ()

void	onEntry ()

void	onExit ()

Public Member Functions inherited from smacc2::SmaccState< State1, $SmName$ >
	SmaccState ()=delete

	SmaccState (my_context ctx)

virtual	~SmaccState ()

const smacc2::introspection::SmaccStateInfo *	getStateInfo ()

std::string	getName () override

std::string	getFullName ()

std::string	getShortName ()

virtual ISmaccState *	getParentState ()

void	exit ()

void	runtimeConfigure ()

void	onEntry ()

void	onExit ()

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

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

void	requiresComponent (SmaccComponentType *&storage)

virtual ISmaccStateMachine &	getStateMachine ()

void	checkWhileLoopConditionAndThrowEvent (bool(MostDerived::*conditionFn)())

void	throwSequenceFinishedEvent ()

Public Member Functions inherited from smacc2::ISmaccState
virtual ISmaccStateMachine &	getStateMachine ()=0

virtual std::string	getName ()=0

ISmaccState *	getParentState ()

rclcpp::Node::SharedPtr &	getNode ()

rclcpp::Logger	getLogger ()

virtual std::string	getClassName ()

template<typename TOrthogonal , typename TBehavior , typename... Args>
std::shared_ptr< TBehavior >	configure (Args &&... args)

template<typename SmaccComponentType >
void	requiresComponent (SmaccComponentType *&storage)

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

template<typename T >
bool	getGlobalSMData (std::string name, T &ret)

template<typename T >
void	setGlobalSMData (std::string name, T value)

template<typename TStateReactor , typename TTriggerEvent , typename TEventList , typename... TEvArgs>
std::shared_ptr< TStateReactor >	createStateReactor (TEvArgs... args)

template<typename TStateReactor , typename... TEvArgs>
std::shared_ptr< TStateReactor >	createStateReactor (TEvArgs... args)

template<typename TEventGenerator , typename... TEvArgs>
std::shared_ptr< TEventGenerator >	createEventGenerator (TEvArgs... args)

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

template<typename EventType >
void	postEvent ()

template<typename TransitionType >
void	notifyTransition ()

void	notifyTransitionFromTransitionTypeInfo (std::shared_ptr< smacc2::introspection::TypeInfo > &transitionTypeInfo)

std::vector< std::shared_ptr< StateReactor > > &	getStateReactors ()

std::vector< std::shared_ptr< SmaccEventGenerator > > &	getEventGenerators ()

template<typename TOrthogonal >
TOrthogonal *	getOrthogonal ()

template<typename TEventGenerator >
TEventGenerator *	getEventGenerator ()

template<typename TStateReactor >
TStateReactor *	getStateReactor ()

Static Public Member Functions
static void	staticConfigure ()

static void	staticConfigure ()

Static Public Member Functions inherited from smacc2::SmaccState< State1, $SmName$ >
static void	configure_orthogonal_runtime (std::function< void(TBehavior &bh, State1 &)> initializationFunction)

static void	configure_orthogonal_runtime (std::function< void(TBehavior &bh)> initializationFunction)

static void	configure_orthogonal (Args &&... args)

static std::shared_ptr< smacc2::introspection::StateReactorHandler >	static_createStateReactor (TArgs... args)

static std::shared_ptr< smacc2::introspection::EventGeneratorHandler >	static_createEventGenerator (TUArgs... args)

static std::shared_ptr< smacc2::introspection::StateReactorHandler >	static_createStateReactor_aux (TUArgs... args)

static void	initial_deep_construct (outermost_context_base_type &outermostContextBase)

static void	deep_construct (const context_ptr_type &pContext, outermost_context_base_type &outermostContextBase)

static inner_context_ptr_type	shallow_construct (const context_ptr_type &pContext, outermost_context_base_type &outermostContextBase)

Additional Inherited Members
Public Attributes inherited from smacc2::SmaccState< State1, $SmName$ >
bool	finishStateThrown

mpl::list<> *	smacc_inner_type

Protected Attributes inherited from smacc2::ISmaccState
rclcpp::Node::SharedPtr	node_

std::shared_ptr< rclcpp::Logger >	logger_

std::vector< std::shared_ptr< StateReactor > >	stateReactors_

std::vector< std::shared_ptr< smacc2::SmaccEventGenerator > >	eventGenerators_

ISmaccState *	parentState_

const smacc2::introspection::SmaccStateInfo *	stateInfo_

Detailed Description

Definition at line 38 of file st_state_1.hpp.

Member Typedef Documentation

◆ reactions [1/2]

typedef boost::mpl::list< Transition<EvStateRequestFinish<State1>, State2> > $sm_name$::State1::reactions

Definition at line 48 of file st_state_1.hpp.

◆ reactions [2/2]

typedef boost::mpl::list< Transition<EvTimer<CbTimerCountdownOnce, OrTimer>, State2, SUCCESS> > $sm_name$::State1::reactions

Definition at line 52 of file st_state_1.hpp.

Member Function Documentation

◆ onEntry() [1/2]

void $sm_name$::State1::onEntry ( )

inline

Definition at line 55 of file st_state_1.hpp.

  {
    // NOTE: counter is updated in 'State2'
    if (_counter_ == ITERATIONS_CHECK)
    {
      rclcpp::Duration elapsed = getNode()->now() - _start_time_;
      double frequency_Hz = ITERATIONS_CHECK / elapsed.seconds();
      _sum_of_iterations_ += ITERATIONS_CHECK;
      _sum_of_elapsed_time_ += elapsed.seconds();
      double global_frequency_Hz = _sum_of_iterations_ / _sum_of_elapsed_time_;
 
      // Using fatal to override all logging restrictions.
      RCLCPP_FATAL(
        getLogger(), "Executed %u iterations in %lf seconds: %lf Hz. Longtime frequency: %lf Hz",
        ITERATIONS_CHECK, elapsed.seconds(), frequency_Hz, global_frequency_Hz);
 
      _counter_ = 1;
      _start_time_ = getNode()->now();
    }
 
    this->postEvent<EvStateRequestFinish<State1>>();
  }

References $sm_name$::_counter_, $sm_name$::_start_time_, $sm_name$::_sum_of_elapsed_time_, $sm_name$::_sum_of_iterations_, smacc2::ISmaccState::getLogger(), smacc2::ISmaccState::getNode(), and $sm_name$::ITERATIONS_CHECK.

Here is the call graph for this function:

◆ onEntry() [2/2]

void $sm_name$::State1::onEntry ( )

inline

Definition at line 65 of file st_state_1.hpp.

  {
    // START: Example code - change or delete as needed
    RCLCPP_INFO(getLogger(), " On Entry!");
    // END: Example code - change or delete as needed
  }

References smacc2::ISmaccState::getLogger().

Here is the call graph for this function:

◆ onExit() [1/2]

void $sm_name$::State1::onExit ( )

inline

Definition at line 78 of file st_state_1.hpp.

78{}

◆ onExit() [2/2]

void $sm_name$::State1::onExit ( )

inline

Definition at line 72 of file st_state_1.hpp.

  {
    // START: Example code - change or delete as needed
    // Use Blackboard to get global state-machine data - example - feel free to delete it.
    std::string output_message_note;
    getGlobalSMData("output_message_note", output_message_note);
    RCLCPP_INFO(getLogger(), (output_message_note + " On Exit!").c_str());
    // END: Example code - change or delete as needed
  }

References smacc2::SmaccState< State1, $SmName$ >::getGlobalSMData(), and smacc2::ISmaccState::getLogger().

Here is the call graph for this function:

◆ runtimeConfigure() [1/2]

void $sm_name$::State1::runtimeConfigure ( )

inline

Definition at line 53 of file st_state_1.hpp.

53{}

◆ runtimeConfigure() [2/2]

void $sm_name$::State1::runtimeConfigure ( )

inline

Definition at line 63 of file st_state_1.hpp.

63{}

◆ staticConfigure() [1/2]

static void $sm_name$::State1::staticConfigure ( )

inlinestatic

Definition at line 51 of file st_state_1.hpp.

51{}

◆ staticConfigure() [2/2]

static void $sm_name$::State1::staticConfigure ( )

inlinestatic

Definition at line 55 of file st_state_1.hpp.

  {
    // START: Example code - change needed
    configure_orthogonal<OrTimer, CbTimerCountdownLoop>(3);  // EvTimer triggers each 3 client ticks
    configure_orthogonal<OrTimer, CbTimerCountdownOnce>(5);  // EvTimer triggers once at 10 client ticks
    // END: Example code - change or delete as needed
  }

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

smacc2_performance_tools/_smacc2_sm_template/include/sm_name/states/st_state_1.hpp
smacc2_sm_reference_library/_smacc2_sm_template/include/sm_name/states/st_state_1.hpp

Public Types

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ reactions [1/2]

◆ reactions [2/2]

Member Function Documentation

◆ onEntry() [1/2]

◆ onEntry() [2/2]

◆ onExit() [1/2]

◆ onExit() [2/2]

◆ runtimeConfigure() [1/2]

◆ runtimeConfigure() [2/2]

◆ staticConfigure() [1/2]

◆ staticConfigure() [2/2]