#include <cl_multirole_sensor.h>

Inheritance diagram for cl_multirole_sensor::ClMultiroleSensor< MessageType >:

Collaboration diagram for cl_multirole_sensor::ClMultiroleSensor< MessageType >:

Public Types
typedef MessageType	TMessageType

Public Types inherited from smacc::client_bases::SmaccSubscriberClient< MessageType >
typedef MessageType	TMessageType

Public Member Functions
	ClMultiroleSensor ()

template<typename T >
boost::signals2::connection	onMessageTimeout (void(T::callback)(const ros::TimerEvent &), T object)

template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()

virtual void	initialize () override

Public Member Functions inherited from smacc::client_bases::SmaccSubscriberClient< MessageType >
	SmaccSubscriberClient ()

	SmaccSubscriberClient (std::string topicname)

virtual	~SmaccSubscriberClient ()

template<typename T >
boost::signals2::connection	onMessageReceived (void(T::callback)(const MessageType &), T object)

template<typename T >
boost::signals2::connection	onFirstMessageReceived (void(T::callback)(const MessageType &), T object)

template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()

virtual void	initialize ()

Public Member Functions inherited from smacc::ISmaccClient
	ISmaccClient ()

virtual	~ISmaccClient ()

virtual void	initialize ()

virtual std::string	getName () const

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

template<typename EventType >
void	postEvent ()

template<typename TComponent >
TComponent *	getComponent ()

template<typename TComponent >
TComponent *	getComponent (std::string name)

virtual smacc::introspection::TypeInfo::Ptr	getType ()

ISmaccStateMachine *	getStateMachine ()

template<typename TSmaccSignal , typename T >
void	connectSignal (TSmaccSignal &signal, void(T::callback)(), T object)

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

void	getComponents (std::vector< std::shared_ptr< ISmaccComponent > > &components)

Public Attributes
SmaccSignal< void(const ros::TimerEvent &)>	onMessageTimeout_

std::function< void(const ros::TimerEvent &ev)>	postTimeoutMessageEvent

boost::optional< ros::Duration >	timeout_

Public Attributes inherited from smacc::client_bases::SmaccSubscriberClient< MessageType >
boost::optional< std::string >	topicName

boost::optional< int >	queueSize

smacc::SmaccSignal< void(const MessageType &)>	onFirstMessageReceived_

smacc::SmaccSignal< void(const MessageType &)>	onMessageReceived_

std::function< void(const MessageType &)>	postMessageEvent

std::function< void(const MessageType &)>	postInitialMessageEvent

Protected Member Functions
void	resetTimer (const MessageType &msg)

Protected Member Functions inherited from smacc::ISmaccClient
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()

template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createComponent (TArgs... targs)

template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createNamedComponent (std::string name, TArgs... targs)

void	setStateMachine (ISmaccStateMachine *stateMachine)

void	setOrthogonal (ISmaccOrthogonal *orthogonal)

Private Member Functions
void	timeoutCallback (const ros::TimerEvent &timerdata)

Private Attributes
ros::Timer	timeoutTimer_

bool	initialized_

Additional Inherited Members
Protected Attributes inherited from smacc::client_bases::SmaccSubscriberClient< MessageType >
ros::NodeHandle	nh_

Protected Attributes inherited from smacc::ISmaccClient
std::map< ComponentKey, std::shared_ptr< smacc::ISmaccComponent > >	components_

Detailed Description

template<typename MessageType>
class cl_multirole_sensor::ClMultiroleSensor< MessageType >

Definition at line 25 of file cl_multirole_sensor.h.

Member Typedef Documentation

◆ TMessageType

template<typename MessageType >

typedef MessageType cl_multirole_sensor::ClMultiroleSensor< MessageType >::TMessageType

Definition at line 28 of file cl_multirole_sensor.h.

Constructor & Destructor Documentation

◆ ClMultiroleSensor()

template<typename MessageType >

cl_multirole_sensor::ClMultiroleSensor< MessageType >::ClMultiroleSensor ( )

inline

Definition at line 31 of file cl_multirole_sensor.h.

      : smacc::client_bases::SmaccSubscriberClient<MessageType>()
  {
    ROS_INFO("[ClMultiroleSensor] constructor");
    initialized_ = false;
  }

References cl_multirole_sensor::ClMultiroleSensor< MessageType >::initialized_.

Member Function Documentation

◆ initialize()

template<typename MessageType >

virtual void cl_multirole_sensor::ClMultiroleSensor< MessageType >::initialize ( )

inlineoverridevirtual

Reimplemented from smacc::client_bases::SmaccSubscriberClient< MessageType >.

Definition at line 60 of file cl_multirole_sensor.h.

  {
    if (!initialized_)
    {
      SmaccSubscriberClient<MessageType>::initialize();
 
      this->onMessageReceived(&ClMultiroleSensor<MessageType>::resetTimer, this);
 
      if (timeout_)
      {
        timeoutTimer_ = this->nh_.createTimer(*timeout_, boost::bind(&ClMultiroleSensor<MessageType>::timeoutCallback, this, _1));
        timeoutTimer_.start();
      }
      else
      {
        ROS_WARN("Timeout sensor client not set, skipping timeout watchdog funcionality");
      }
 
      initialized_ = true;
    }
  }

References smacc::client_bases::SmaccSubscriberClient< MessageType >::initialize(), cl_multirole_sensor::ClMultiroleSensor< MessageType >::initialized_, smacc::client_bases::SmaccSubscriberClient< MessageType >::nh_, smacc::client_bases::SmaccSubscriberClient< MessageType >::onMessageReceived(), cl_multirole_sensor::ClMultiroleSensor< MessageType >::timeout_, and cl_multirole_sensor::ClMultiroleSensor< MessageType >::timeoutTimer_.

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◆ onMessageTimeout()

template<typename MessageType >

template<typename T >

boost::signals2::connection cl_multirole_sensor::ClMultiroleSensor< MessageType >::onMessageTimeout	(	void(T::*)(const ros::TimerEvent &)	callback,
		T *	object
	)

inline

Definition at line 39 of file cl_multirole_sensor.h.

  {
    return this->getStateMachine()->createSignalConnection(onMessageTimeout_, callback, object);
  }

References smacc::ISmaccStateMachine::createSignalConnection(), and smacc::ISmaccClient::getStateMachine().

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◆ onOrthogonalAllocation()

template<typename MessageType >

template<typename TOrthogonal , typename TSourceObject >

void cl_multirole_sensor::ClMultiroleSensor< MessageType >::onOrthogonalAllocation ( )

inline

Definition at line 47 of file cl_multirole_sensor.h.

  {
    SmaccSubscriberClient<MessageType>::template onOrthogonalAllocation<TOrthogonal, TSourceObject>();
 
    this->postTimeoutMessageEvent = [=](auto &timerdata) {
      onMessageTimeout_(timerdata);
 
      auto event = new EvTopicMessageTimeout<TSourceObject, TOrthogonal>();
      event->timerData = timerdata;
      this->postEvent(event);
    };
  }

References cl_multirole_sensor::ClMultiroleSensor< MessageType >::onMessageTimeout_, and smacc::ISmaccClient::postEvent().

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◆ resetTimer()

template<typename MessageType >

void cl_multirole_sensor::ClMultiroleSensor< MessageType >::resetTimer ( const MessageType & msg )

inlineprotected

Definition at line 85 of file cl_multirole_sensor.h.

  {
    //resetting the timer
    this->timeoutTimer_.stop();
    this->timeoutTimer_.start();
  }

References cl_multirole_sensor::ClMultiroleSensor< MessageType >::timeoutTimer_.

◆ timeoutCallback()

template<typename MessageType >

void cl_multirole_sensor::ClMultiroleSensor< MessageType >::timeoutCallback ( const ros::TimerEvent & timerdata )

inlineprivate

Definition at line 96 of file cl_multirole_sensor.h.

  {
    postTimeoutMessageEvent(timerdata);
  }

References cl_multirole_sensor::ClMultiroleSensor< MessageType >::postTimeoutMessageEvent.

Member Data Documentation

◆ initialized_

template<typename MessageType >

bool cl_multirole_sensor::ClMultiroleSensor< MessageType >::initialized_

private

Definition at line 94 of file cl_multirole_sensor.h.

Referenced by cl_multirole_sensor::ClMultiroleSensor< MessageType >::ClMultiroleSensor(), and cl_multirole_sensor::ClMultiroleSensor< MessageType >::initialize().

◆ onMessageTimeout_

template<typename MessageType >

SmaccSignal<void(const ros::TimerEvent &)> cl_multirole_sensor::ClMultiroleSensor< MessageType >::onMessageTimeout_

Definition at line 29 of file cl_multirole_sensor.h.

Referenced by cl_multirole_sensor::ClMultiroleSensor< MessageType >::onOrthogonalAllocation().

◆ postTimeoutMessageEvent

template<typename MessageType >

std::function<void(const ros::TimerEvent &ev)> cl_multirole_sensor::ClMultiroleSensor< MessageType >::postTimeoutMessageEvent

Definition at line 44 of file cl_multirole_sensor.h.

Referenced by cl_multirole_sensor::ClMultiroleSensor< MessageType >::timeoutCallback().

◆ timeout_

template<typename MessageType >

boost::optional<ros::Duration> cl_multirole_sensor::ClMultiroleSensor< MessageType >::timeout_

Definition at line 82 of file cl_multirole_sensor.h.

Referenced by cl_multirole_sensor::ClMultiroleSensor< MessageType >::initialize().

◆ timeoutTimer_

template<typename MessageType >

ros::Timer cl_multirole_sensor::ClMultiroleSensor< MessageType >::timeoutTimer_

private

Definition at line 93 of file cl_multirole_sensor.h.

Referenced by cl_multirole_sensor::ClMultiroleSensor< MessageType >::initialize(), and cl_multirole_sensor::ClMultiroleSensor< MessageType >::resetTimer().

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

smacc_client_library/multirole_sensor_client/include/multirole_sensor_client/cl_multirole_sensor.h

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ TMessageType

Constructor & Destructor Documentation

◆ ClMultiroleSensor()

Member Function Documentation

◆ initialize()

◆ onMessageTimeout()

◆ onOrthogonalAllocation()

◆ resetTimer()

◆ timeoutCallback()

Member Data Documentation

◆ initialized_

◆ onMessageTimeout_

◆ postTimeoutMessageEvent

◆ timeout_

◆ timeoutTimer_