#include <cb_default_multirole_sensor_behavior.h>

Inheritance diagram for cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >:

Collaboration diagram for cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >:

Public Types
typedef ClientType::TMessageType	TMessageType

Public Member Functions
	CbDefaultMultiRoleSensorBehavior ()

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

template<typename EvType >
void	propagateEvent (const TMessageType &msg)

template<typename EvType >
void	propagateEvent2 (const ros::TimerEvent &tdata)

virtual void	onEntry () override

void	onExit ()

virtual void	onMessageCallback (const TMessageType &msg)

virtual void	onEntry () override

virtual void	onExit () override

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 ()

Static Public Member Functions
static std::string	getEventLabel ()

Public Attributes
ClientType *	sensor_

std::function< void()>	deferedEventPropagation

Additional Inherited Members
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 ()

Detailed Description

template<typename ClientType>
class cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >

Definition at line 9 of file cb_default_multirole_sensor_behavior.h.

Member Typedef Documentation

◆ TMessageType

template<typename ClientType >

typedef ClientType::TMessageType cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >::TMessageType

Definition at line 12 of file cb_default_multirole_sensor_behavior.h.

Constructor & Destructor Documentation

◆ CbDefaultMultiRoleSensorBehavior()

template<typename ClientType >

cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >::CbDefaultMultiRoleSensorBehavior ( )

inline

Definition at line 16 of file cb_default_multirole_sensor_behavior.h.

  {
    sensor_ = nullptr;
  }

References cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >::sensor_.

Member Function Documentation

◆ getEventLabel()

template<typename ClientType >

static std::string cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >::getEventLabel ( )

inlinestatic

Definition at line 21 of file cb_default_multirole_sensor_behavior.h.

  {
    // show ros message type
    return demangleSymbol(typeid(TMessageType).name());
  }

References smacc::introspection::demangleSymbol().

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◆ onEntry()

template<typename ClientType >

virtual void cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >::onEntry ( )

inlineoverridevirtual

Reimplemented from smacc::SmaccClientBehavior.

Definition at line 52 of file cb_default_multirole_sensor_behavior.h.

  {
    ROS_INFO("[CbDefaultMultiRoleSensorBehavior] onEntry. Requires client of type '%s'", demangleSymbol<ClientType>().c_str());
 
    this->requiresClient(sensor_);
 
    if (sensor_ == nullptr)
    {
      ROS_FATAL_STREAM("Sensor client behavior needs a client of type: " << demangleSymbol<ClientType>() << " but it is not found.");
    }
    else
    {
      deferedEventPropagation();
      ROS_INFO("[CbDefaultMultiRoleSensorBehavior] onEntry. sensor initialize");
      sensor_->initialize();
    }
  }

References cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >::deferedEventPropagation, smacc::ISmaccClientBehavior::requiresClient(), and cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >::sensor_.

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◆ onExit()

template<typename ClientType >

void cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >::onExit ( )

inlinevirtual

Reimplemented from smacc::SmaccClientBehavior.

Definition at line 70 of file cb_default_multirole_sensor_behavior.h.

71 {

72 }

◆ onMessageCallback()

template<typename ClientType >

virtual void cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >::onMessageCallback ( const TMessageType & msg )

inlinevirtual

Definition at line 74 of file cb_default_multirole_sensor_behavior.h.

  {
    // empty to fill by sensor customization based on inheritance
  }

◆ onOrthogonalAllocation()

template<typename ClientType >

template<typename TOrthogonal , typename TSourceObject >

void cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >::onOrthogonalAllocation ( )

inline

Definition at line 30 of file cb_default_multirole_sensor_behavior.h.

  {
    deferedEventPropagation = [=]() {
      // just propagate the client events from this client behavior source.
      sensor_->onMessageReceived(&CbDefaultMultiRoleSensorBehavior<ClientType>::propagateEvent<EvTopicMessage<TSourceObject, TOrthogonal>>, this);
      sensor_->onFirstMessageReceived(&CbDefaultMultiRoleSensorBehavior<ClientType>::propagateEvent<EvTopicInitialMessage<TSourceObject, TOrthogonal>>, this);
      sensor_->onMessageTimeout(&CbDefaultMultiRoleSensorBehavior<ClientType>::propagateEvent2<EvTopicMessageTimeout<TSourceObject, TOrthogonal>>, this);
    };
  }