#include <smacc_client.h>

Inheritance diagram for smacc::ISmaccClient:

Collaboration diagram for smacc::ISmaccClient:

Public Member Functions
	ISmaccClient ()

virtual	~ISmaccClient ()

virtual void	initialize ()

virtual std::string	getName () const

template<typename EventType >
void	postEvent (const EventType &ev)

template<typename EventType >
void	postEvent ()

template<typename TComponent >
TComponent *	getComponent ()

template<typename TComponent >
TComponent *	getComponent (std::string name)

virtual smacc::introspection::TypeInfo::Ptr	getType ()

ISmaccStateMachine *	getStateMachine ()

template<typename TSmaccSignal , typename T >
void	connectSignal (TSmaccSignal &signal, void(T::callback)(), T object)

template<typename SmaccClientType >
void	requiresClient (SmaccClientType *&storage)

void	getComponents (std::vector< std::shared_ptr< ISmaccComponent > > &components)

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

template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createComponent (TArgs... targs)

template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createNamedComponent (std::string name, TArgs... targs)

void	setStateMachine (ISmaccStateMachine *stateMachine)

void	setOrthogonal (ISmaccOrthogonal *orthogonal)

Protected Attributes
std::map< ComponentKey, std::shared_ptr< smacc::ISmaccComponent > >	components_

Private Attributes
ISmaccStateMachine *	stateMachine_

ISmaccOrthogonal *	orthogonal_

Friends
class	ISmaccOrthogonal

class	ISmaccComponent

Detailed Description

Definition at line 36 of file smacc_client.h.

Constructor & Destructor Documentation

◆ ISmaccClient()

smacc::ISmaccClient::ISmaccClient ( )

Definition at line 13 of file client.cpp.

14{

15}

◆ ~ISmaccClient()

smacc::ISmaccClient::~ISmaccClient ( )

virtual

Definition at line 17 of file client.cpp.

18{

19}

Member Function Documentation

◆ connectSignal()

template<typename TSmaccSignal , typename T >

void smacc::ISmaccClient::connectSignal	(	TSmaccSignal &	signal,
		void(T::*)()	callback,
		T *	object
	)

Definition at line 96 of file smacc_client_impl.h.

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

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

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◆ createComponent()

template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>

SmaccComponentType * smacc::ISmaccClient::createComponent ( TArgs... targs )

protected

Definition at line 90 of file smacc_client_impl.h.

    {
        return this->createNamedComponent<SmaccComponentType, TOrthogonal, TClient>(std::string(), targs...);
    }

Referenced by smacc::ClientHandler< TOrthogonal, TClient >::createComponent(), and smacc::ISmaccComponent::createSiblingComponent().

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◆ createNamedComponent()

template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>

SmaccComponentType * smacc::ISmaccClient::createNamedComponent	(	std::string	name,
		TArgs...	targs
	)

protected

Definition at line 57 of file smacc_client_impl.h.

    {
        ComponentKey componentkey(&typeid(SmaccComponentType), name);
 
        std::shared_ptr<SmaccComponentType> ret;
 
        auto it = this->components_.find(componentkey);
 
        if (it == this->components_.end())
        {
            auto tname = demangledTypeName<SmaccComponentType>();
            ROS_DEBUG("%s smacc component is required. Creating a new instance.", tname.c_str());
 
            ret = std::shared_ptr<SmaccComponentType>(new SmaccComponentType(targs...));
            ret->setStateMachine(this->getStateMachine());
            ret->owner_ = this;
            ret->initialize(this);
 
            this->components_[componentkey] = ret; //std::dynamic_pointer_cast<smacc::ISmaccComponent>(ret);
            ROS_DEBUG("%s resource is required. Done.", tname.c_str());
        }
        else
        {
            ROS_DEBUG("%s resource is required. Found resource in cache.", demangledTypeName<SmaccComponentType>().c_str());
            ret = dynamic_pointer_cast<SmaccComponentType>(it->second);
        }
 
        ret->template onOrthogonalAllocation<TOrthogonal, TClient>();
 
        return ret.get();
    }

References components_, and getStateMachine().

Referenced by smacc::ClientHandler< TOrthogonal, TClient >::createNamedComponent(), and smacc::ISmaccComponent::createSiblingNamedComponent().

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◆ getComponent() [1/2]

template<typename TComponent >

TComponent * smacc::ISmaccClient::getComponent

Definition at line 27 of file smacc_client_impl.h.

    {
        return this->getComponent<TComponent>(std::string());
    }

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◆ getComponent() [2/2]

template<typename TComponent >

TComponent * smacc::ISmaccClient::getComponent ( std::string name )

Definition at line 33 of file smacc_client_impl.h.

    {
        for (auto &component : components_)
        {
            if (component.first.name != name)
                continue;
 
            auto *tcomponent = dynamic_cast<TComponent *>(component.second.get());
            if (tcomponent != nullptr)
            {
                return tcomponent;
            }
        }
 
        return nullptr;
    }

References components_.

◆ getComponents()

void smacc::ISmaccClient::getComponents ( std::vector< std::shared_ptr< ISmaccComponent > > & components )

Definition at line 26 of file client.cpp.

{
    for (auto &ce : components_)
    {
        components.push_back(ce.second);
    }
}

References components_.

◆ getName()

std::string smacc::ISmaccClient::getName ( ) const

virtual

Reimplemented in cl_move_base_z::ClMoveBaseZ.

Definition at line 34 of file client.cpp.

{
    std::string keyname = demangleSymbol(typeid(*this).name());
    return keyname;
}

References smacc::introspection::demangleSymbol().

Referenced by smacc::client_bases::SmaccActionClientBase< ActionType >::cancelGoal(), smacc::client_bases::SmaccPublisherClient::configure(), smacc::client_bases::SmaccSubscriberClient< MessageType >::initialize(), smacc::client_bases::SmaccServiceClient< ServiceType >::initialize(), smacc::client_bases::SmaccServiceServerClient< TService >::initialize(), smacc::client_bases::SmaccActionClientBase< ActionType >::onResult(), and smacc::client_bases::SmaccActionClientBase< ActionType >::sendGoal().

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◆ getStateMachine()

ISmaccStateMachine * smacc::ISmaccClient::getStateMachine ( )

inline

Definition at line 51 of file smacc_client_impl.h.

    {
        return this->stateMachine_;
    }

References stateMachine_.

Referenced by connectSignal(), createNamedComponent(), smacc::client_bases::SmaccActionClientBase< ActionType >::onAborted(), smacc::client_bases::SmaccSubscriberClient< MessageType >::onFirstMessageReceived(), cl_keyboard::ClKeyboard::OnKeyPress(), smacc::client_bases::SmaccSubscriberClient< MessageType >::onMessageReceived(), cl_multirole_sensor::ClMultiroleSensor< MessageType >::onMessageTimeout(), cl_move_group_interface::ClMoveGroup::onMotionExecutionFailed(), cl_move_group_interface::ClMoveGroup::onMotionExecutionSuccedded(), smacc::client_bases::SmaccActionClientBase< ActionType >::onPreempted(), smacc::client_bases::SmaccActionClientBase< ActionType >::onRejected(), smacc::client_bases::SmaccServiceServerClient< TService >::onServiceRequestReceived(), smacc::client_bases::SmaccActionClientBase< ActionType >::onSucceeded(), and cl_ros_timer::ClRosTimer::onTimerTick().

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◆ getType()

smacc::introspection::TypeInfo::Ptr smacc::ISmaccClient::getType ( )

virtual

Definition at line 50 of file client.cpp.

{
    return smacc::introspection::TypeInfo::getFromStdTypeInfo(typeid(*this));
}

References smacc::introspection::TypeInfo::getFromStdTypeInfo().

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◆ initialize()

void smacc::ISmaccClient::initialize ( )

virtual

Reimplemented in smacc::client_bases::SmaccSubscriberClient< MessageType >, smacc::client_bases::SmaccSubscriberClient< sensor_msgs::BatteryState >, smacc::client_bases::SmaccSubscriberClient< std_msgs::UInt16 >, smacc::client_bases::SmaccSubscriberClient< TMsg >, cl_ros_timer::ClRosTimer, smacc::client_bases::SmaccActionClientBase< ActionType >, smacc::client_bases::SmaccActionClientBase< move_base_msgs::MoveBaseAction >, smacc::client_bases::SmaccServiceClient< ServiceType >, smacc::client_bases::SmaccServiceServerClient< TService >, cl_keyboard::ClKeyboard, cl_move_base_z::ClMoveBaseZ, and cl_multirole_sensor::ClMultiroleSensor< MessageType >.

Definition at line 21 of file client.cpp.

{
 
}

◆ onOrthogonalAllocation()

template<typename TOrthogonal , typename TSourceObject >

void smacc::ISmaccClient::onOrthogonalAllocation ( )

inlineprotected

Definition at line 75 of file smacc_client.h.

75{}

◆ postEvent() [1/2]

template<typename EventType >

void smacc::ISmaccClient::postEvent

Definition at line 21 of file smacc_client_impl.h.

    {
        stateMachine_->postEvent<EventType>();
    }

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

Referenced by smacc::client_bases::SmaccActionClientBase< ActionType >::onOrthogonalAllocation(), smacc::client_bases::SmaccSubscriberClient< MessageType >::onOrthogonalAllocation(), cl_multirole_sensor::ClMultiroleSensor< MessageType >::onOrthogonalAllocation(), and smacc::client_bases::SmaccActionClientBase< ActionType >::postResultEvent().

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◆ postEvent() [2/2]

template<typename EventType >

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

Definition at line 15 of file smacc_client_impl.h.

    {
        stateMachine_->postEvent(ev);
    }

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

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◆ requiresClient()

template<typename SmaccClientType >

void smacc::ISmaccClient::requiresClient ( SmaccClientType *& storage )

Definition at line 102 of file smacc_client_impl.h.

    {
        this->orthogonal_->requiresClient(storage);
    }

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

Referenced by smacc::ISmaccComponent::requiresClient().

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◆ setOrthogonal()

void smacc::ISmaccClient::setOrthogonal ( ISmaccOrthogonal * orthogonal )

protected

Definition at line 45 of file client.cpp.

{
    orthogonal_ = orthogonal;
}

References orthogonal_.

◆ setStateMachine()

void smacc::ISmaccClient::setStateMachine ( ISmaccStateMachine * stateMachine )

protected

Definition at line 40 of file client.cpp.

{
    stateMachine_ = stateMachine;
}

References stateMachine_.

Friends And Related Function Documentation

◆ ISmaccComponent

friend class ISmaccComponent

friend

Definition at line 97 of file smacc_client.h.

◆ ISmaccOrthogonal

friend class ISmaccOrthogonal

friend

Definition at line 96 of file smacc_client.h.

Member Data Documentation

◆ components_

std::map<ComponentKey, std::shared_ptr<smacc::ISmaccComponent> > smacc::ISmaccClient::components_

protected

Definition at line 78 of file smacc_client.h.

Referenced by createNamedComponent(), getComponent(), and getComponents().

◆ orthogonal_

ISmaccOrthogonal* smacc::ISmaccClient::orthogonal_

private

Definition at line 94 of file smacc_client.h.

Referenced by requiresClient(), and setOrthogonal().

◆ stateMachine_

ISmaccStateMachine* smacc::ISmaccClient::stateMachine_

private

Definition at line 93 of file smacc_client.h.

Referenced by getStateMachine(), postEvent(), and setStateMachine().

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

smacc/include/smacc/smacc_client.h
smacc/include/smacc/impl/smacc_client_impl.h
smacc/src/smacc/client.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ ISmaccClient()

◆ ~ISmaccClient()

Member Function Documentation

◆ connectSignal()

◆ createComponent()

◆ createNamedComponent()

◆ getComponent() [1/2]

◆ getComponent() [2/2]

◆ getComponents()

◆ getName()

◆ getStateMachine()

◆ getType()

◆ initialize()

◆ onOrthogonalAllocation()

◆ postEvent() [1/2]

◆ postEvent() [2/2]

◆ requiresClient()

◆ setOrthogonal()

◆ setStateMachine()

Friends And Related Function Documentation

◆ ISmaccComponent

◆ ISmaccOrthogonal

Member Data Documentation

◆ components_

◆ orthogonal_

◆ stateMachine_