#include <smacc_asynchronous_client_behavior.h>

Inheritance diagram for smacc::SmaccAsyncClientBehavior:

Collaboration diagram for smacc::SmaccAsyncClientBehavior:

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

virtual	~SmaccAsyncClientBehavior ()

template<typename TCallback , typename T >
boost::signals2::connection	onSuccess (TCallback callback, T *object)

template<typename TCallback , typename T >
boost::signals2::connection	onFinished (TCallback callback, T *object)

template<typename TCallback , typename T >
boost::signals2::connection	onFailure (TCallback callback, T *object)

Public Member Functions inherited from smacc::ISmaccClientBehavior
	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	executeOnEntry () override

virtual void	executeOnExit () override

void	postSuccessEvent ()

void	postFailureEvent ()

virtual void	dispose () override

Protected Member Functions inherited from smacc::ISmaccClientBehavior
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 Attributes
std::future< int >	onEntryThread_

std::future< int >	onExitThread_

std::function< void()>	postFinishEventFn_

std::function< void()>	postSuccessEventFn_

std::function< void()>	postFailureEventFn_

SmaccSignal< void()>	onFinished_

SmaccSignal< void()>	onSuccess_

SmaccSignal< void()>	onFailure_

Detailed Description

Definition at line 42 of file smacc_asynchronous_client_behavior.h.

Constructor & Destructor Documentation

◆ ~SmaccAsyncClientBehavior()

smacc::SmaccAsyncClientBehavior::~SmaccAsyncClientBehavior ( )

virtual

Definition at line 69 of file smacc_client_async_behavior.cpp.

70 {

71 }

Member Function Documentation

◆ dispose()

void smacc::SmaccAsyncClientBehavior::dispose ( )

overrideprotectedvirtual

Reimplemented from smacc::ISmaccClientBehavior.

Definition at line 54 of file smacc_client_async_behavior.cpp.

    {
        ROS_DEBUG_STREAM("[" << getName() << "] Destroying client behavior- Waiting finishing of asynchronous onExit thread");
        try
        {
            this->onExitThread_.get();
        }
        catch (...)
        {
            ROS_DEBUG("[SmaccAsyncClientBehavior] trying to Join onExit function, but it was already finished.");
        }
 
        ROS_DEBUG_STREAM("[" << getName() << "] Destroying client behavior-  onExit thread finished. Proccedding destruction.");
    }

References smacc::ISmaccClientBehavior::getName(), and onExitThread_.

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◆ executeOnEntry()

void smacc::SmaccAsyncClientBehavior::executeOnEntry ( )

overrideprotectedvirtual

Reimplemented from smacc::ISmaccClientBehavior.

Definition at line 5 of file smacc_client_async_behavior.cpp.

    {
        ROS_INFO_STREAM("[" << getName() << "] Creating asynchronous onEntry thread");
        this->onEntryThread_ = std::async(std::launch::async,
                                          [=] {
                                              this->onEntry();
                                              this->postFinishEventFn_();
                                              return 0;
                                          });
    }

References smacc::ISmaccClientBehavior::getName(), smacc::ISmaccClientBehavior::onEntry(), onEntryThread_, and postFinishEventFn_.

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◆ executeOnExit()

void smacc::SmaccAsyncClientBehavior::executeOnExit ( )

overrideprotectedvirtual

Reimplemented from smacc::ISmaccClientBehavior.

Definition at line 16 of file smacc_client_async_behavior.cpp.

    {
        ROS_INFO_STREAM("[" << getName() << "] onExit - join async onEntry thread");
 
        try
        {
            ros::Rate r(200);
            while (ros::ok())
            {
                bool valid = this->onEntryThread_.valid();
                if (valid)
                {
                    auto status = this->onEntryThread_.wait_for(std::chrono::milliseconds(20));
                    if (status == std::future_status::ready)
                    {
                        this->onEntryThread_.get();
                        break;
                    }
                }
 
                r.sleep();
                ros::spinOnce();
                ROS_DEBUG("waiting for finishing client behavior");
            }
        }
        catch (const std::exception &e)
        {
            ROS_DEBUG("[SmaccAsyncClientBehavior] trying to Join onEntry function, but it was already finished.");
        }
 
        ROS_INFO_STREAM("[" << getName() << "] onExit - Creating asynchronous onExit thread");
        this->onExitThread_ = std::async(std::launch::async,
                                         [=] {
                                             this->onExit();
                                             return 0;
                                         });
    }

References smacc::ISmaccClientBehavior::getName(), onEntryThread_, smacc::ISmaccClientBehavior::onExit(), and onExitThread_.

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◆ onFailure()

template<typename TCallback , typename T >

boost::signals2::connection smacc::SmaccAsyncClientBehavior::onFailure	(	TCallback	callback,
		T *	object
	)

Definition at line 46 of file smacc_asynchronous_client_behavior_impl.h.

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

References smacc::ISmaccStateMachine::createSignalConnection(), smacc::ISmaccClientBehavior::getStateMachine(), and onFailure_.

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◆ onFinished()

template<typename TCallback , typename T >

boost::signals2::connection smacc::SmaccAsyncClientBehavior::onFinished	(	TCallback	callback,
		T *	object
	)

Definition at line 40 of file smacc_asynchronous_client_behavior_impl.h.

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

References smacc::ISmaccStateMachine::createSignalConnection(), smacc::ISmaccClientBehavior::getStateMachine(), and onFinished_.

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◆ onOrthogonalAllocation()

template<typename TOrthogonal , typename TSourceObject >

void smacc::SmaccAsyncClientBehavior::onOrthogonalAllocation

Definition at line 15 of file smacc_asynchronous_client_behavior_impl.h.

    {
        postFinishEventFn_ = [=] {
            this->onFinished_();
            this->postEvent<EvCbFinished<TSourceObject, TOrthogonal>>();
        };
 
        postSuccessEventFn_ = [=] {
            this->onSuccess_();
            this->postEvent<EvCbSuccess<TSourceObject, TOrthogonal>>();
        };
 
        postFailureEventFn_ = [=] {
            this->onFailure_();
            this->postEvent<EvCbFailure<TSourceObject, TOrthogonal>>();
        };
    }

References onFailure_, onFinished_, onSuccess_, postFailureEventFn_, postFinishEventFn_, and postSuccessEventFn_.

◆ onSuccess()

template<typename TCallback , typename T >

boost::signals2::connection smacc::SmaccAsyncClientBehavior::onSuccess	(	TCallback	callback,
		T *	object
	)

Definition at line 34 of file smacc_asynchronous_client_behavior_impl.h.

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

References smacc::ISmaccStateMachine::createSignalConnection(), smacc::ISmaccClientBehavior::getStateMachine(), and onSuccess_.

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◆ postFailureEvent()

void smacc::SmaccAsyncClientBehavior::postFailureEvent ( )

protected

Definition at line 78 of file smacc_client_async_behavior.cpp.

    {
        postFailureEventFn_();
    }

References postFailureEventFn_.

Referenced by cl_move_group_interface::CbMoveEndEffectorTrajectory::executeJointSpaceTrajectory(), cl_move_group_interface::CbMoveJoints::moveJoints(), cl_move_group_interface::CbMoveEndEffectorRelative::moveRelative(), cl_move_group_interface::CbMoveCartesianRelative::moveRelativeCartesian(), cl_move_group_interface::CbMoveEndEffector::moveToAbsolutePose(), cl_move_group_interface::CbMoveEndEffectorTrajectory::onEntry(), and cl_move_base_z::CbMoveBaseClientBehaviorBase::propagateFailureEvent().

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◆ postSuccessEvent()

void smacc::SmaccAsyncClientBehavior::postSuccessEvent ( )

protected

Definition at line 73 of file smacc_client_async_behavior.cpp.

    {
        postSuccessEventFn_();
    }

References postSuccessEventFn_.

Referenced by cl_move_group_interface::CbMoveEndEffectorTrajectory::executeJointSpaceTrajectory(), cl_move_group_interface::CbMoveJoints::moveJoints(), cl_move_group_interface::CbMoveEndEffectorRelative::moveRelative(), cl_move_group_interface::CbMoveCartesianRelative::moveRelativeCartesian(), cl_move_group_interface::CbMoveEndEffector::moveToAbsolutePose(), and cl_move_base_z::CbMoveBaseClientBehaviorBase::propagateSuccessEvent().

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Member Data Documentation

◆ onEntryThread_

std::future<int> smacc::SmaccAsyncClientBehavior::onEntryThread_

private

Definition at line 69 of file smacc_asynchronous_client_behavior.h.

Referenced by executeOnEntry(), and executeOnExit().

◆ onExitThread_

std::future<int> smacc::SmaccAsyncClientBehavior::onExitThread_

private

Definition at line 70 of file smacc_asynchronous_client_behavior.h.

Referenced by dispose(), and executeOnExit().

◆ onFailure_

SmaccSignal<void()> smacc::SmaccAsyncClientBehavior::onFailure_

private

Definition at line 78 of file smacc_asynchronous_client_behavior.h.

Referenced by onFailure(), and onOrthogonalAllocation().

◆ onFinished_

SmaccSignal<void()> smacc::SmaccAsyncClientBehavior::onFinished_

private

Definition at line 76 of file smacc_asynchronous_client_behavior.h.

Referenced by onFinished(), and onOrthogonalAllocation().

◆ onSuccess_

SmaccSignal<void()> smacc::SmaccAsyncClientBehavior::onSuccess_

private

Definition at line 77 of file smacc_asynchronous_client_behavior.h.

Referenced by onOrthogonalAllocation(), and onSuccess().

◆ postFailureEventFn_

std::function<void()> smacc::SmaccAsyncClientBehavior::postFailureEventFn_

private

Definition at line 74 of file smacc_asynchronous_client_behavior.h.

Referenced by onOrthogonalAllocation(), and postFailureEvent().

◆ postFinishEventFn_

std::function<void()> smacc::SmaccAsyncClientBehavior::postFinishEventFn_

private

Definition at line 72 of file smacc_asynchronous_client_behavior.h.

Referenced by executeOnEntry(), and onOrthogonalAllocation().

◆ postSuccessEventFn_

std::function<void()> smacc::SmaccAsyncClientBehavior::postSuccessEventFn_

private

Definition at line 73 of file smacc_asynchronous_client_behavior.h.

Referenced by onOrthogonalAllocation(), and postSuccessEvent().

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

smacc/include/smacc/smacc_asynchronous_client_behavior.h
smacc/include/smacc/impl/smacc_asynchronous_client_behavior_impl.h
smacc/src/smacc/smacc_client_async_behavior.cpp

Public Member Functions

Protected Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ~SmaccAsyncClientBehavior()

Member Function Documentation

◆ dispose()

◆ executeOnEntry()

◆ executeOnExit()

◆ onFailure()

◆ onFinished()

◆ onOrthogonalAllocation()

◆ onSuccess()

◆ postFailureEvent()

◆ postSuccessEvent()

Member Data Documentation

◆ onEntryThread_

◆ onExitThread_

◆ onFailure_

◆ onFinished_

◆ onSuccess_

◆ postFailureEventFn_

◆ postFinishEventFn_

◆ postSuccessEventFn_