Inheritance diagram for ReachedStateSuccessTestPolicy:

Collaboration diagram for ReachedStateSuccessTestPolicy:

Private Member Functions
virtual void	init (XmlRpc::XmlRpcValue &initXmlRpcValue) override

virtual void	update ()

Private Attributes
std::string	targetStateName_

Additional Inherited Members
virtual void	init (XmlRpc::XmlRpcValue &initXmlRpcValue)

virtual void	update ()

Public Attributes inherited from TestPolicy
SmaccTestRuntimeNode *	owner_

Detailed Description

Definition at line 158 of file smacc_runtime_test_node.cpp.

Member Function Documentation

◆ init()

virtual void ReachedStateSuccessTestPolicy::init ( XmlRpc::XmlRpcValue & initXmlRpcValue )

inlineoverrideprivatevirtual

Reimplemented from TestPolicy.

Definition at line 161 of file smacc_runtime_test_node.cpp.

  {
    ROS_INFO("[ReachedStateSuccessTestPolicy] initializating");
    targetStateName_ = ((std::string)initXmlRpcValue["state_name"]);
    ROS_INFO_STREAM("[ReachedStateSuccessTestPolicy] success state: " << targetStateName_);
    this->owner_->onSmaccTransition.connect(
    [=](auto& msg)
    {
        ROS_INFO_STREAM("[ReachedStateSuccessTestPolicy] received state: " << msg.transition.destiny_state_name);
 
        if(msg.transition.destiny_state_name == targetStateName_)
        {
            this->owner_->success(std::string("success destiny state ") + targetStateName_);
        }
    });
  }