SmaccTestRuntimeNode Class Reference

Collaboration diagram for SmaccTestRuntimeNode:

Public Member Functions
template<typename T >
std::shared_ptr< TestPolicy >	tryTestPolicyFactory (std::string matchname, XmlRpc::XmlRpcValue &initXmlRpcValue)
void	init ()
void	success (std::string msg)
void	failure (std::string msg)
void	update ()
void	onRosOutCallback (const rosgraph_msgs::Log &msg)
void	onSmaccTransitionCallback (const smacc_msgs::SmaccTransitionLogEntry &msg)

Public Attributes
ros::NodeHandle	nh_
ros::Subscriber	rosoutSub_
ros::Subscriber	smaccTransitionSub_
std::vector< std::shared_ptr< TestPolicy > >	testPolicies
boost::signals2::signal< void(const rosgraph_msgs::Log &)>	onRosOutMsg
boost::signals2::signal< void(const smacc_msgs::SmaccTransitionLogEntry &)>	onSmaccTransition

Detailed Description

Definition at line 28 of file smacc_runtime_test_node.cpp.

Member Function Documentation

failure()

void SmaccTestRuntimeNode::failure ( std::string  msg )

inline

Definition at line 105 of file smacc_runtime_test_node.cpp.

  {
    ROS_FATAL_STREAM("SmaccRuntimeTestNode policy thrown failure exit: " << msg);
    exit(-1);
  }

Referenced by TimeoutFailureTestPolicy::update().

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init()

void SmaccTestRuntimeNode::init ( )

inline

Definition at line 61 of file smacc_runtime_test_node.cpp.

  {
    ROS_INFO("[SmaccTestruntimeNode] subscribing rosout");
 
    ros::NodeHandle private_nh("~");
    std::string stateMachineROSParamWs;
    if (private_nh.getParam("state_machine_rosparam_ws", stateMachineROSParamWs))
    {
      ROS_INFO_STREAM("state machine param ws: " << stateMachineROSParamWs);
    }
 
    rosoutSub_ = nh_.subscribe("/rosout", 1, &SmaccTestRuntimeNode::onRosOutCallback, this);
    smaccTransitionSub_ = nh_.subscribe(stateMachineROSParamWs + "/smacc/transition_log", 1, &SmaccTestRuntimeNode::onSmaccTransitionCallback, this);
 
    XmlRpc::XmlRpcValue successSwitchParam;
    private_nh.getParam("success_switch", successSwitchParam);
    ROS_INFO_STREAM("[SmaccTestruntimeNode] success switch" << successSwitchParam);
    ROS_ASSERT(successSwitchParam.getType() == XmlRpc::XmlRpcValue::TypeArray);
 
    for (int32_t i = 0; i < successSwitchParam.size(); ++i)
    {
      auto initXmlRpcValue = successSwitchParam[i];
      if (tryTestPolicyFactory<ReachedStateSuccessTestPolicy>("state_reached", initXmlRpcValue) != nullptr)
        continue;
    }
 
    XmlRpc::XmlRpcValue failureSwitchParam;
    private_nh.getParam("failure_switch", failureSwitchParam);
    ROS_INFO_STREAM("[SmaccTestruntimeNode] failure switch" << failureSwitchParam);
    ROS_ASSERT(failureSwitchParam.getType() == XmlRpc::XmlRpcValue::TypeArray);
 
    for (int32_t i = 0; i < failureSwitchParam.size(); ++i)
    {
      auto initXmlRpcValue = failureSwitchParam[i];
      if (tryTestPolicyFactory<TimeoutFailureTestPolicy>("timeout", initXmlRpcValue) != nullptr)
        continue;
    }
  }

References nh_, onRosOutCallback(), onSmaccTransitionCallback(), rosoutSub_, and smaccTransitionSub_.

Referenced by main().

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onRosOutCallback()

void SmaccTestRuntimeNode::onRosOutCallback ( const rosgraph_msgs::Log &  msg )

inline

Definition at line 119 of file smacc_runtime_test_node.cpp.

  {
      this->onRosOutMsg(msg);
  }

References onRosOutMsg.

Referenced by init().

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onSmaccTransitionCallback()

void SmaccTestRuntimeNode::onSmaccTransitionCallback ( const smacc_msgs::SmaccTransitionLogEntry &  msg )

inline

Definition at line 124 of file smacc_runtime_test_node.cpp.

  {
      this->onSmaccTransition(msg);
  }

References onSmaccTransition.

Referenced by init().

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success()

void SmaccTestRuntimeNode::success ( std::string  msg )

inline

Definition at line 99 of file smacc_runtime_test_node.cpp.

  {
    ROS_INFO_STREAM("SmaccRuntimeTestNode policy thrown success exit: " << msg);
    exit(-1);
  }

Referenced by ReachedStateSuccessTestPolicy::init().

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tryTestPolicyFactory()

template<typename T >

std::shared_ptr< TestPolicy > SmaccTestRuntimeNode::tryTestPolicyFactory ( std::string  matchname, XmlRpc::XmlRpcValue &  initXmlRpcValue  )

inline

Definition at line 41 of file smacc_runtime_test_node.cpp.

  {
    std::shared_ptr<TestPolicy> policy = nullptr;
    ROS_INFO_STREAM(initXmlRpcValue);
 
    auto type = (std::string)initXmlRpcValue["type"];
 
    if (type == matchname)
    {
      auto specificPolicy = std::make_shared<T>();
      policy = std::dynamic_pointer_cast<TestPolicy>(specificPolicy);
      testPolicies.push_back(policy);
 
      policy->owner_ = this;
      policy->init(initXmlRpcValue);
    }
 
    return policy;
  }

References testPolicies.

update()

void SmaccTestRuntimeNode::update ( )

inline

Definition at line 111 of file smacc_runtime_test_node.cpp.

  {
    for (auto& policy : testPolicies)
    {
      policy->update();
    }
  }

References testPolicies.

Referenced by main().

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Member Data Documentation

nh_

ros::NodeHandle SmaccTestRuntimeNode::nh_

Definition at line 31 of file smacc_runtime_test_node.cpp.

Referenced by init().

onRosOutMsg

boost::signals2::signal<void(const rosgraph_msgs::Log&)> SmaccTestRuntimeNode::onRosOutMsg

Definition at line 37 of file smacc_runtime_test_node.cpp.

Referenced by onRosOutCallback().

onSmaccTransition

boost::signals2::signal<void(const smacc_msgs::SmaccTransitionLogEntry&)> SmaccTestRuntimeNode::onSmaccTransition

Definition at line 38 of file smacc_runtime_test_node.cpp.

Referenced by ReachedStateSuccessTestPolicy::init(), and onSmaccTransitionCallback().

rosoutSub_

ros::Subscriber SmaccTestRuntimeNode::rosoutSub_

Definition at line 32 of file smacc_runtime_test_node.cpp.

Referenced by init().

smaccTransitionSub_

ros::Subscriber SmaccTestRuntimeNode::smaccTransitionSub_

Definition at line 33 of file smacc_runtime_test_node.cpp.

Referenced by init().

testPolicies

std::vector<std::shared_ptr<TestPolicy> > SmaccTestRuntimeNode::testPolicies

Definition at line 36 of file smacc_runtime_test_node.cpp.

Referenced by tryTestPolicyFactory(), and update().

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

• smacc_diagnostics/smacc_runtime_test/src/smacc_runtime_test_node.cpp