sm_dance_bot_strikes_back::StNavigateForward1 Struct Reference

#include <st_navigate_forward_1.hpp>

Inheritance diagram for sm_dance_bot_strikes_back::StNavigateForward1:

Collaboration diagram for sm_dance_bot_strikes_back::StNavigateForward1:

Public Types
typedef mpl::list< Transition< EvCbSuccess< CbNavigateForward, OrNavigation >, StRotateDegrees2 >, Transition< EvCbFailure< CbNavigateForward, OrNavigation >, StNavigateForward1, ABORT > >	reactions
Public Types inherited from smacc2::SmaccState< StNavigateForward1, MsDanceBotRunMode >
typedef MsDanceBotRunMode	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	onActionClientSucceeded (cl_nav2z::ClNav2Z::WrappedResult &msg)
Public Member Functions inherited from smacc2::SmaccState< StNavigateForward1, MsDanceBotRunMode >
	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 Public Member Functions inherited from smacc2::SmaccState< StNavigateForward1, MsDanceBotRunMode >
static void	configure_orthogonal_runtime (std::function< void(TBehavior &bh, StNavigateForward1 &)> 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< StNavigateForward1, MsDanceBotRunMode >
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 29 of file st_navigate_forward_1.hpp.

Member Typedef Documentation

reactions

typedef mpl::list< Transition<EvCbSuccess<CbNavigateForward, OrNavigation>, StRotateDegrees2>, Transition<EvCbFailure<CbNavigateForward, OrNavigation>, StNavigateForward1, ABORT> > sm_dance_bot_strikes_back::StNavigateForward1::reactions

Definition at line 40 of file st_navigate_forward_1.hpp.

Member Function Documentation

onActionClientSucceeded()

void sm_dance_bot_strikes_back::StNavigateForward1::onActionClientSucceeded ( cl_nav2z::ClNav2Z::WrappedResult &  msg )

inline

Definition at line 61 of file st_navigate_forward_1.hpp.

  {
    RCLCPP_INFO_STREAM(
      getLogger(),
      " [Callback SmaccSignal] Success Detected from StAcquireSensors (connected to client signal), "
      "result data: "
        << msg.result);
  }

References smacc2::ISmaccState::getLogger().

Referenced by runtimeConfigure().

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runtimeConfigure()

void sm_dance_bot_strikes_back::StNavigateForward1::runtimeConfigure ( )

inline

Definition at line 52 of file st_navigate_forward_1.hpp.

  {
    ClNav2Z * move_base_action_client;
    this->requiresClient(move_base_action_client);
 
    // we careful with the lifetime of the callbac, us a scoped connection if is not forever
    move_base_action_client->onSucceeded(&StNavigateForward1::onActionClientSucceeded, this);
  }

References onActionClientSucceeded(), smacc2::client_bases::SmaccActionClientBase< ActionType >::onSucceeded(), and smacc2::ISmaccState::requiresClient().

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staticConfigure()

static void sm_dance_bot_strikes_back::StNavigateForward1::staticConfigure ( )

inlinestatic

Definition at line 43 of file st_navigate_forward_1.hpp.

  {
    configure_orthogonal<OrNavigation, CbNavigateForward>(1);
    configure_orthogonal<OrNavigation, CbPauseSlam>();
    configure_orthogonal<OrLED, CbLEDOff>();
    configure_orthogonal<OrObstaclePerception, CbLidarSensor>();
 
  }

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

• smacc2_sm_reference_library/sm_dance_bot_strikes_back/include/sm_dance_bot_strikes_back/states/st_navigate_forward_1.hpp