$sm_name$::$SmName$ Struct Reference

#include <sm_name.hpp>

Inheritance diagram for $sm_name$::$SmName$:

Collaboration diagram for $sm_name$::$SmName$:

Public Member Functions
void	onInitialize () override
	this function should be implemented by the user to create the orthogonals More...
void	onInitialize () override
	this function should be implemented by the user to create the orthogonals More...
Public Member Functions inherited from smacc2::SmaccStateMachineBase< $SmName$, State1 >
	SmaccStateMachineBase (my_context ctx, SignalDetector *signalDetector)
virtual	~SmaccStateMachineBase ()
void	reset () override
void	stop () override
void	eStop () override
void	initiate_impl () override
Public Member Functions inherited from smacc2::ISmaccStateMachine
	ISmaccStateMachine (std::string stateMachineName, SignalDetector *signalDetector)
virtual	~ISmaccStateMachine ()
virtual void	reset ()
virtual void	stop ()
virtual void	eStop ()
template<typename TOrthogonal >
TOrthogonal *	getOrthogonal ()
const std::map< std::string, std::shared_ptr< smacc2::ISmaccOrthogonal > > &	getOrthogonals () const
template<typename SmaccComponentType >
void	requiresComponent (SmaccComponentType *&storage)
template<typename EventType >
void	postEvent (EventType *ev, EventLifeTime evlifetime=EventLifeTime::ABSOLUTE)
template<typename EventType >
void	postEvent (EventLifeTime evlifetime=EventLifeTime::ABSOLUTE)
template<typename T >
bool	getGlobalSMData (std::string name, T &ret)
template<typename T >
void	setGlobalSMData (std::string name, T value)
template<typename StateField , typename BehaviorType >
void	mapBehavior ()
std::string	getStateMachineName ()
void	state_machine_visualization ()
std::shared_ptr< SmaccStateInfo >	getCurrentStateInfo ()
void	publishTransition (const SmaccTransitionInfo &transitionInfo)
virtual void	onInitialize ()
	this function should be implemented by the user to create the orthogonals More...
void	getTransitionLogHistory (const std::shared_ptr< rmw_request_id_t > request_header, const std::shared_ptr< smacc2_msgs::srv::SmaccGetTransitionHistory::Request > req, std::shared_ptr< smacc2_msgs::srv::SmaccGetTransitionHistory::Response > res)
template<typename TSmaccSignal , typename TMemberFunctionPrototype , typename TSmaccObjectType >
boost::signals2::connection	createSignalConnection (TSmaccSignal &signal, TMemberFunctionPrototype callback, TSmaccObjectType *object)
template<typename StateType >
void	notifyOnStateEntryStart (StateType *state)
template<typename StateType >
void	notifyOnStateEntryEnd (StateType *state)
template<typename StateType >
void	notifyOnRuntimeConfigured (StateType *state)
template<typename StateType >
void	notifyOnStateExitting (StateType *state)
template<typename StateType >
void	notifyOnStateExited (StateType *state)
void	disposeStateAndDisconnectSignals ()
template<typename StateType >
void	notifyOnRuntimeConfigurationFinished (StateType *state)
unsigned long	getCurrentStateCounter () const
ISmaccState *	getCurrentState () const
const SmaccStateMachineInfo &	getStateMachineInfo ()
template<typename InitialStateType >
void	buildStateMachineInfo ()
rclcpp::Node::SharedPtr	getNode ()
rclcpp::Logger	getLogger ()
std::recursive_mutex &	getMutex ()

Additional Inherited Members
Protected Member Functions inherited from smacc2::ISmaccStateMachine
void	checkStateMachineConsistence ()
void	initializeROS (std::string smshortname)
void	onInitialized ()
template<typename TOrthogonal >
void	createOrthogonal ()
Protected Attributes inherited from smacc2::ISmaccStateMachine
rclcpp::Node::SharedPtr	nh_
rclcpp::TimerBase::SharedPtr	timer_
rclcpp::Publisher< smacc2_msgs::msg::SmaccStateMachine >::SharedPtr	stateMachinePub_
rclcpp::Publisher< smacc2_msgs::msg::SmaccStatus >::SharedPtr	stateMachineStatusPub_
rclcpp::Publisher< smacc2_msgs::msg::SmaccTransitionLogEntry >::SharedPtr	transitionLogPub_
rclcpp::Service< smacc2_msgs::srv::SmaccGetTransitionHistory >::SharedPtr	transitionHistoryService_
ISmaccState *	currentState_
std::shared_ptr< SmaccStateInfo >	currentStateInfo_
smacc2_msgs::msg::SmaccStatus	status_msg_
std::map< std::string, std::shared_ptr< smacc2::ISmaccOrthogonal > >	orthogonals_
std::shared_ptr< SmaccStateMachineInfo >	stateMachineInfo_

Detailed Description

Definition at line 38 of file sm_name.hpp.

Member Function Documentation

onInitialize() [1/2]

void $sm_name$::$SmName$::onInitialize ( )

inlineoverridevirtual

this function should be implemented by the user to create the orthogonals

Reimplemented from smacc2::ISmaccStateMachine.

Definition at line 42 of file sm_name.hpp.

{ _start_time_ = getNode()->now(); }

References $sm_name$::_start_time_, and smacc2::ISmaccStateMachine::getNode().

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onInitialize() [2/2]

void $sm_name$::$SmName$::onInitialize ( )

inlineoverridevirtual

this function should be implemented by the user to create the orthogonals

Reimplemented from smacc2::ISmaccStateMachine.

Definition at line 42 of file sm_name.hpp.

  {
    // START: Example code - change or delete as needed
    this->createOrthogonal<OrTimer>();
    // Use Blackboard to store global state-machine data - example - feel free to delete it.
    setGlobalSMData(
      "output_message_note", std::string("{I am very cool smacc2 SM called '$sm_name$'}"));
    // END: Example code - change or delete as needed
  }

References smacc2::ISmaccStateMachine::setGlobalSMData().

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

• smacc2_performance_tools/_smacc2_sm_template/include/sm_name/sm_name.hpp
• smacc2_sm_reference_library/_smacc2_sm_template/include/sm_name/sm_name.hpp