smacc::ISmaccClientBehavior Class Reference

#include <smacc_client_behavior_base.h>

Inheritance diagram for smacc::ISmaccClientBehavior:

Collaboration diagram for smacc::ISmaccClientBehavior:

Public Member Functions
	ISmaccClientBehavior ()
virtual	~ISmaccClientBehavior ()
ISmaccStateMachine *	getStateMachine ()
std::string	getName () const
template<typename SmaccClientType >
void	requiresClient (SmaccClientType *&storage)
template<typename SmaccComponentType >
void	requiresComponent (SmaccComponentType *&storage)
ros::NodeHandle	getNode ()

Protected Member Functions
virtual void	runtimeConfigure ()
virtual void	onEntry ()
virtual void	onExit ()
template<typename EventType >
void	postEvent (const EventType &ev)
template<typename EventType >
void	postEvent ()
ISmaccState *	getCurrentState ()
virtual void	executeOnEntry ()
virtual void	executeOnExit ()
virtual void	dispose ()

Private Member Functions
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()

Private Attributes
ISmaccStateMachine *	stateMachine_
ISmaccState *	currentState
smacc::ISmaccOrthogonal *	currentOrthogonal

Friends
class	ISmaccState
class	ISmaccOrthogonal

Detailed Description

Definition at line 12 of file smacc_client_behavior_base.h.

Constructor & Destructor Documentation

ISmaccClientBehavior()

smacc::ISmaccClientBehavior::ISmaccClientBehavior

(

)

Definition at line 5 of file smacc_client_behavior_base.cpp.

{
  stateMachine_ = nullptr;
  currentState = nullptr;
}

References currentState, and stateMachine_.

~ISmaccClientBehavior()

smacc::ISmaccClientBehavior::~ISmaccClientBehavior ( )

virtual

Definition at line 11 of file smacc_client_behavior_base.cpp.

{
  ROS_WARN("Client behavior deallocated.");
}

Member Function Documentation

dispose()

void smacc::ISmaccClientBehavior::dispose ( )

protectedvirtual

Reimplemented in smacc::SmaccAsyncClientBehavior.

Definition at line 47 of file smacc_client_behavior_base.cpp.

{
}

executeOnEntry()

void smacc::ISmaccClientBehavior::executeOnEntry ( )

protectedvirtual

Reimplemented in smacc::SmaccAsyncClientBehavior.

Definition at line 35 of file smacc_client_behavior_base.cpp.

{
  ROS_DEBUG("[%s] Default empty SmaccClientBehavior onEntry", this->getName().c_str());
  this->onEntry();
}

References getName(), and onEntry().

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executeOnExit()

void smacc::ISmaccClientBehavior::executeOnExit ( )

protectedvirtual

Reimplemented in smacc::SmaccAsyncClientBehavior.

Definition at line 41 of file smacc_client_behavior_base.cpp.

{
  ROS_DEBUG("[%s] Default empty SmaccClientBehavior onExit", this->getName().c_str());
  this->onExit();
}

References getName(), and onExit().

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getCurrentState()

ISmaccState * smacc::ISmaccClientBehavior::getCurrentState ( )

inlineprotected

Definition at line 48 of file smacc_client_behavior_impl.h.

{
    return this->currentState;
}

References currentState.

Referenced by cl_move_base_z::CbAbsoluteRotate::onEntry(), cl_move_base_z::CbNavigateBackwards::onEntry(), cl_move_base_z::CbNavigateForward::onEntry(), cl_move_base_z::CbRotate::onEntry(), and cl_move_base_z::CbNavigateGlobalPosition::readStartPoseFromParameterServer().

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getName()

std::string smacc::ISmaccClientBehavior::getName

(

)

const

Definition at line 16 of file smacc_client_behavior_base.cpp.

{
  return demangleSymbol(typeid(*this).name());
}

References smacc::introspection::demangleSymbol().

Referenced by smacc::SmaccAsyncClientBehavior::dispose(), cl_move_group_interface::CbMoveEndEffectorTrajectory::executeJointSpaceTrajectory(), executeOnEntry(), smacc::SmaccAsyncClientBehavior::executeOnEntry(), executeOnExit(), smacc::SmaccAsyncClientBehavior::executeOnExit(), cl_move_group_interface::CbMoveJoints::moveJoints(), smacc::SmaccClientBehavior::onEntry(), cl_move_group_interface::CbMoveEndEffectorTrajectory::onEntry(), cl_move_group_interface::CbMoveLastTrajectoryInitialState::onEntry(), smacc::SmaccClientBehavior::onExit(), cl_move_group_interface::CbMoveEndEffectorTrajectory::onOrthogonalAllocation(), and runtimeConfigure().

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getNode()

ros::NodeHandle smacc::ISmaccClientBehavior::getNode

(

)

Definition at line 30 of file smacc_client_behavior_base.cpp.

{
  return this->stateMachine_->getNode();
}

References smacc::ISmaccStateMachine::getNode(), and stateMachine_.

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getStateMachine()

ISmaccStateMachine * smacc::ISmaccClientBehavior::getStateMachine ( )

inline

Definition at line 42 of file smacc_client_behavior_impl.h.

{
    return this->stateMachine_;
}

References stateMachine_.

Referenced by cl_move_base_z::CbNavigateGlobalPosition::execute(), smacc::SmaccAsyncClientBehavior::onFailure(), smacc::SmaccAsyncClientBehavior::onFinished(), smacc::SmaccAsyncClientBehavior::onSuccess(), cl_ros_timer::CbTimerCountdownLoop::onTimerTick(), and cl_ros_timer::CbTimerCountdownOnce::onTimerTick().

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onEntry()

void smacc::ISmaccClientBehavior::onEntry ( )

protectedvirtual

Reimplemented in cl_keyboard::CbDefaultKeyboardBehavior, cl_move_base_z::CbNavigateGlobalPosition, smacc::CbServiceServerCallbackBase< TService >, smacc::CbSubscriptionCallbackBase< TMsg >, smacc::SmaccClientBehavior, cl_move_base_z::CbAbsoluteRotate, cl_move_base_z::CbNavigateBackwards, cl_move_base_z::CbNavigateForward, cl_move_base_z::CbNavigateNextWaypoint, cl_move_base_z::CbRotate, cl_move_base_z::CbUndoPathBackwards, cl_move_base_z::CbUndoPathBackwards2, cl_move_group_interface::CbAttachObject, cl_move_group_interface::CbDetachObject, cl_move_group_interface::CbEndEffectorRotate, cl_move_group_interface::CbExecuteLastTrajectory, cl_move_group_interface::CbMoveCartesianRelative, cl_move_group_interface::CbMoveEndEffector, cl_move_group_interface::CbMoveEndEffectorRelative, cl_move_group_interface::CbMoveEndEffectorTrajectory, cl_move_group_interface::CbMoveJoints, cl_move_group_interface::CbMoveLastTrajectoryInitialState, cl_move_group_interface::CbMoveNamedTarget, cl_move_group_interface::CbUndoLastTrajectory, cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >, cl_ros_publisher::CbDefaultPublishLoop, cl_ros_publisher::CbMutedBehavior< RosMsgType >, cl_ros_publisher::CbPublishOnce< RosMsgType >, cl_ros_timer::CbTimer, cl_ros_timer::CbTimerCountdownLoop, and cl_ros_timer::CbTimerCountdownOnce.

Definition at line 26 of file smacc_client_behavior_base.cpp.

{};

Referenced by executeOnEntry(), smacc::SmaccAsyncClientBehavior::executeOnEntry(), and cl_move_group_interface::CbEndEffectorRotate::onEntry().

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onExit()

void smacc::ISmaccClientBehavior::onExit ( )

protectedvirtual

Reimplemented in cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >, smacc::SmaccClientBehavior, cl_move_base_z::CbAbsoluteRotate, cl_move_base_z::CbNavigateBackwards, cl_move_base_z::CbNavigateForward, cl_move_base_z::CbNavigateGlobalPosition, cl_move_base_z::CbNavigateNextWaypoint, cl_move_base_z::CbUndoPathBackwards, cl_move_base_z::CbUndoPathBackwards2, cl_move_group_interface::CbAttachObject, cl_move_group_interface::CbDetachObject, cl_move_group_interface::CbMoveCartesianRelative, cl_move_group_interface::CbMoveEndEffectorRelative, cl_move_group_interface::CbMoveEndEffectorTrajectory, cl_move_group_interface::CbMoveJoints, cl_move_group_interface::CbMoveNamedTarget, cl_ros_publisher::CbDefaultPublishLoop, cl_ros_publisher::CbMutedBehavior< RosMsgType >, cl_ros_publisher::CbPublishOnce< RosMsgType >, cl_ros_timer::CbTimer, cl_ros_timer::CbTimerCountdownLoop, and cl_ros_timer::CbTimerCountdownOnce.

Definition at line 28 of file smacc_client_behavior_base.cpp.

{};

Referenced by executeOnExit(), and smacc::SmaccAsyncClientBehavior::executeOnExit().

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onOrthogonalAllocation()

template<typename TOrthogonal , typename TSourceObject >

void smacc::ISmaccClientBehavior::onOrthogonalAllocation

private

Definition at line 73 of file smacc_client_behavior_impl.h.

{}

postEvent() [1/2]

template<typename EventType >

void smacc::ISmaccClientBehavior::postEvent

protected

Definition at line 28 of file smacc_client_behavior_impl.h.

{
    if (stateMachine_ == nullptr)
    {
        ROS_ERROR("The client behavior cannot post events before being assigned to an orthogonal. Ignoring post event call.");
    }
    else
    {
 
        stateMachine_->template postEvent<EventType>(EventLifeTime::CURRENT_STATE);
    }
}

References smacc::CURRENT_STATE, and stateMachine_.

Referenced by cl_move_group_interface::CbMoveEndEffectorTrajectory::onOrthogonalAllocation(), and cl_keyboard::CbDefaultKeyboardBehavior::postKeyEvent().

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postEvent() [2/2]

template<typename EventType >

void smacc::ISmaccClientBehavior::postEvent ( const EventType &  ev )

protected

Definition at line 15 of file smacc_client_behavior_impl.h.

{
    if (stateMachine_ == nullptr)
    {
        ROS_ERROR("The client behavior cannot post events before being assigned to an orthogonal. Ignoring post event call.");
    }
    else
    {
        stateMachine_->postEvent(ev, EventLifeTime::CURRENT_STATE);
    }
}

References smacc::CURRENT_STATE, smacc::ISmaccStateMachine::postEvent(), and stateMachine_.

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requiresClient()

template<typename SmaccClientType >

void smacc::ISmaccClientBehavior::requiresClient

(

SmaccClientType *&

storage

)

Definition at line 54 of file smacc_client_behavior_impl.h.

{
    currentOrthogonal->requiresClient(storage);
}

References currentOrthogonal, and smacc::ISmaccOrthogonal::requiresClient().

Referenced by cl_keyboard::CbDefaultKeyboardBehavior::onEntry(), smacc::CbServiceServerCallbackBase< TService >::onEntry(), smacc::CbSubscriptionCallbackBase< TMsg >::onEntry(), cl_move_base_z::CbRotate::onEntry(), cl_move_group_interface::CbAttachObject::onEntry(), cl_move_group_interface::CbDetachObject::onEntry(), cl_move_group_interface::CbEndEffectorRotate::onEntry(), cl_move_group_interface::CbExecuteLastTrajectory::onEntry(), cl_move_group_interface::CbMoveCartesianRelative::onEntry(), cl_move_group_interface::CbMoveEndEffector::onEntry(), cl_move_group_interface::CbMoveEndEffectorRelative::onEntry(), cl_move_group_interface::CbMoveEndEffectorTrajectory::onEntry(), cl_move_group_interface::CbMoveJoints::onEntry(), cl_move_group_interface::CbMoveNamedTarget::onEntry(), cl_move_group_interface::CbUndoLastTrajectory::onEntry(), cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >::onEntry(), cl_ros_publisher::CbDefaultPublishLoop::onEntry(), cl_ros_publisher::CbPublishOnce< RosMsgType >::onEntry(), cl_ros_timer::CbTimer::onEntry(), cl_ros_timer::CbTimerCountdownLoop::onEntry(), cl_ros_timer::CbTimerCountdownOnce::onEntry(), and cl_move_base_z::CbMoveBaseClientBehaviorBase::onOrthogonalAllocation().

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requiresComponent()

template<typename SmaccComponentType >

void smacc::ISmaccClientBehavior::requiresComponent

(

SmaccComponentType *&

storage

)

Definition at line 60 of file smacc_client_behavior_impl.h.

{
    if (stateMachine_ == nullptr)
    {
        ROS_ERROR("Cannot use the requiresComponent funcionality before assigning the client behavior to an orthogonal. Try using the OnEntry method to capture required components.");
    }
    else
    {
        stateMachine_->requiresComponent(storage);
    }
}

References smacc::ISmaccStateMachine::requiresComponent(), and stateMachine_.

Referenced by cl_move_group_interface::CbAttachObject::onEntry(), cl_move_group_interface::CbDetachObject::onEntry(), cl_move_group_interface::CbExecuteLastTrajectory::onEntry(), cl_move_group_interface::CbMoveEndEffectorTrajectory::onEntry(), cl_move_group_interface::CbMoveLastTrajectoryInitialState::onEntry(), and cl_move_group_interface::CbUndoLastTrajectory::onEntry().

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runtimeConfigure()

void smacc::ISmaccClientBehavior::runtimeConfigure ( )

protectedvirtual

Definition at line 21 of file smacc_client_behavior_base.cpp.

{
  ROS_DEBUG("[%s] Default empty SmaccClientBehavior runtimeConfigure", this->getName().c_str());
}

References getName().

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Friends And Related Function Documentation

ISmaccOrthogonal

friend class ISmaccOrthogonal

friend

Definition at line 66 of file smacc_client_behavior_base.h.

ISmaccState

friend class ISmaccState

friend

Definition at line 65 of file smacc_client_behavior_base.h.

Member Data Documentation

currentOrthogonal

smacc::ISmaccOrthogonal* smacc::ISmaccClientBehavior::currentOrthogonal

private

Definition at line 63 of file smacc_client_behavior_base.h.

Referenced by requiresClient().

currentState

ISmaccState* smacc::ISmaccClientBehavior::currentState

private

Definition at line 61 of file smacc_client_behavior_base.h.

Referenced by cl_move_group_interface::CbMoveEndEffectorTrajectory::computeJointSpaceTrajectory(), getCurrentState(), and ISmaccClientBehavior().

stateMachine_

ISmaccStateMachine* smacc::ISmaccClientBehavior::stateMachine_

private

Definition at line 58 of file smacc_client_behavior_base.h.

Referenced by getNode(), getStateMachine(), ISmaccClientBehavior(), postEvent(), and requiresComponent().

---

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

• smacc/include/smacc/smacc_client_behavior_base.h
• smacc/include/smacc/impl/smacc_client_behavior_impl.h
• smacc/src/smacc/smacc_client_behavior_base.cpp